base

Base interfaces for LAV2 controllers.

类：

名称	描述
ControllerBase	Abstract controller base class.

ControllerBase

ControllerBase(params: VehicleParams, control_mask: dict | None = None, gains: dict | None = None)

Bases: ABC

Abstract controller base class.

Initialize shared controller state.

参数：

名称	类型	描述	默认
params	VehicleParams	Vehicle parameters for the controller.	必需
control_mask	dict | None	Dict mask mapped to state keys. e.g. {"pos": [1, 1, 1], "att_euler": [0, 0, 1]} for position+yaw control. Keys not present are cascade-computed.	None
gains	dict | None	Optional gains configuration for derived controllers.	None

方法：

名称	描述
update	Update the controller and return control outputs.
reset	Reset controller state if necessary.

属性：

名称	类型	描述
params	VehicleParams	Vehicle parameters for the controller.
control_mask	dict	Control mask dict mapped to state keys, used in update().
gains	dict | None	Optional gains configuration for derived controllers.
target	dict	Latest target dict input to the controller.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

control_mask instance-attribute

control_mask: dict = control_mask if control_mask is not None else {}

Control mask dict mapped to state keys, used in update().

gains instance-attribute

gains: dict | None = gains

Optional gains configuration for derived controllers.

target instance-attribute

target: dict = {}

Latest target dict input to the controller.

update abstractmethod

update(target, state)

Update the controller and return control outputs.

参数：

名称	类型	描述	默认
target		Dict with state keys and desired values.	必需
state		Dict with current state keys.	必需

返回：

类型	描述
	Control output array.

reset abstractmethod

reset(*args, **kwargs)

Reset controller state if necessary.