base

Base interfaces for LAV2 controllers.

类：

名称	描述
ControllerState	Sparse controller state fields shared by measured state and target dicts.
ControllerBase	Abstract controller base class.

属性：

名称	类型	描述
ControllerTarget		Desired controller target fields; schema matches :class:ControllerState.

ControllerTarget module-attribute

ControllerTarget = ControllerState

Desired controller target fields; schema matches :class:ControllerState.

ControllerState

Bases: TypedDict

Sparse controller state fields shared by measured state and target dicts.

属性：

名称	类型	描述
thrust	ArrayLike	Collective thrust in newtons, shape (N, 1).
pos	ArrayLike	World-frame position, shape (N, 3).
vel	ArrayLike	World-frame linear velocity, shape (N, 3).
vel_b	ArrayLike	Body-frame linear velocity, shape (N, 3); used by ground control.
acc	ArrayLike	World-frame linear acceleration, shape (N, 3).
att_euler	ArrayLike	Roll, pitch, yaw angles in radians, shape (N, 3).
att_quat	ArrayLike	Quaternion attitude in xyzw order, shape (N, 4).
att_rotmat	ArrayLike	Flattened attitude rotation matrix, shape (N, 9).
att_rotvec	ArrayLike	Attitude rotation vector in radians, shape (N, 3).
ang_vel	ArrayLike	Body angular velocity in radians per second, shape (N, 3).

thrust instance-attribute

thrust: ArrayLike

Collective thrust in newtons, shape (N, 1).

pos instance-attribute

pos: ArrayLike

World-frame position, shape (N, 3).

vel instance-attribute

vel: ArrayLike

World-frame linear velocity, shape (N, 3).

vel_b instance-attribute

vel_b: ArrayLike

Body-frame linear velocity, shape (N, 3); used by ground control.

acc instance-attribute

acc: ArrayLike

World-frame linear acceleration, shape (N, 3).

att_euler instance-attribute

att_euler: ArrayLike

Roll, pitch, yaw angles in radians, shape (N, 3).

att_quat instance-attribute

att_quat: ArrayLike

Quaternion attitude in xyzw order, shape (N, 4).

att_rotmat instance-attribute

att_rotmat: ArrayLike

Flattened attitude rotation matrix, shape (N, 9).

att_rotvec instance-attribute

att_rotvec: ArrayLike

Attitude rotation vector in radians, shape (N, 3).

ang_vel instance-attribute

ang_vel: ArrayLike

Body angular velocity in radians per second, shape (N, 3).

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	ControllerTarget	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: ControllerTarget = {}

Latest target dict input to the controller.

update abstractmethod

update(target: ControllerTarget, state: ControllerState)

Update the controller and return control outputs.

参数：

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