geo

Array API Geometric Controller for batched simulation.

Based on Lee, Leok, McClamroch (CDC 2010). Uses scipy.spatial.transform.Rotation (SCIPY_ARRAY_API=1) for SO(3).

类：

名称	描述
GeoControl	Batched geometric controller (Array API).
GeometricAdaptiveController	Batched geometric adaptive controller (Array API).
L1_GeoControl	Batched L1 adaptive geometric controller (Array API).

GeoControl

GeoControl(params: VehicleParams = VehicleParams(), control_mask: dict | None = None, gains: dict | None = None, limits: dict | None = None, *, num_envs: int = 1, device=None, backend: BackendName | None = None, xp: ModuleType | None = None)

Bases: ControllerBase

Batched geometric controller (Array API).

Initialize the batched geometric controller.

方法：

名称	描述
reset	Reset.
gains_to_randomization_ranges	Gains to randomization ranges.
randomize	Randomize.
update	Update.

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().

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().

reset

reset(env_ids=None)

Reset.

gains_to_randomization_ranges classmethod

gains_to_randomization_ranges(gains: dict | None = None, scale: float = 0.2) -> dict

Gains to randomization ranges.

randomize

randomize(env_ids=None, gains: dict | None = None, limits: dict | None = None, params: dict | None = None)

Randomize.

update

update(target: ControllerTarget, state: ControllerState) -> ArrayLike

Update.

GeometricAdaptiveController

GeometricAdaptiveController(params: VehicleParams = VehicleParams(), control_mask: dict | None = None, gains: dict | None = None, limits: dict | None = None, *, num_envs: int = 1, device=None, backend: BackendName | None = None, xp: ModuleType | None = None)

Bases: GeoControl

Batched geometric adaptive controller (Array API).

Initialize adaptive state and inherited geometric control.

方法：

名称	描述
reset	Reset adaptive uncertainty estimates for selected environments.
update	Update adaptive geometric control and return thrust/moments.
gains_to_randomization_ranges	Gains to randomization ranges.
randomize	Randomize.

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().

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().

reset

reset(env_ids=None)

Reset adaptive uncertainty estimates for selected environments.

update

update(target: ControllerTarget, state: ControllerState) -> ArrayLike

Update adaptive geometric control and return thrust/moments.

gains_to_randomization_ranges classmethod

gains_to_randomization_ranges(gains: dict | None = None, scale: float = 0.2) -> dict

Gains to randomization ranges.

randomize

randomize(env_ids=None, gains: dict | None = None, limits: dict | None = None, params: dict | None = None)

Randomize.

L1_GeoControl

L1_GeoControl(params: VehicleParams = VehicleParams(), control_mask: dict | None = None, gains: dict | None = None, limits: dict | None = None, *, num_envs: int = 1, device=None, backend: BackendName | None = None, xp: ModuleType | None = None)

Bases: GeoControl

Batched L1 adaptive geometric controller (Array API).

Initialize L1 adaptive state and inherited geometric control.

方法：

名称	描述
reset	Reset L1 predictor/filter state for selected environments.
update	Update L1-augmented geometric control and return thrust/moments.
gains_to_randomization_ranges	Gains to randomization ranges.
randomize	Randomize.

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().

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().

reset

reset(env_ids=None)

Reset L1 predictor/filter state for selected environments.

update

update(target: ControllerTarget, state: ControllerState) -> ArrayLike

Update L1-augmented geometric control and return thrust/moments.

gains_to_randomization_ranges classmethod

gains_to_randomization_ranges(gains: dict | None = None, scale: float = 0.2) -> dict

Gains to randomization ranges.

randomize

randomize(env_ids=None, gains: dict | None = None, limits: dict | None = None, params: dict | None = None)

Randomize.