mapping

Control-mode mapping utilities for batched Torch controller pipelines.

类：

名称	描述
FlightActionMapper	Map batched normalized actions into controller targets, wrench, or RPM.

函数：

名称	描述
target_to_command	Convert dict target batches into compact command vectors.

属性：

名称	类型	描述
CONTROLLER_REGISTRY	dict[str, type]	Torch-controller registry mirroring

CONTROLLER_REGISTRY module-attribute

CONTROLLER_REGISTRY: dict[str, type] = {'FlightController': FlightController, 'GeoControl': GeoControl}

Torch-controller registry mirroring :data:lav2.controllers.mapping.CONTROLLER_REGISTRY.

FlightActionMapper

FlightActionMapper(control_mode: str, params: VehicleParams = VehicleParams(), mapping: FlightMappingConfig | None = None, control_mask: dict | None = None, num_envs: int = 1, device: str | device = 'cpu')

Map batched normalized actions into controller targets, wrench, or RPM.

Initialize a batched Torch flight action mapper for the selected mode.

参数：

名称	类型	描述	默认
control_mode	str	Control mode string (e.g. "cmd_ctatt_quat").	必需
params	VehicleParams	Vehicle parameters for action scaling.	VehicleParams()
mapping	FlightMappingConfig | None	Optional mapping-range overrides. Relative-rotation behaviour is controlled via :attr:FlightMappingConfig.rel_rotation and :attr:FlightMappingConfig.rotation_step_len.	None
control_mask	dict | None	Per-key boolean mask dict.	None
num_envs	int	Number of parallel environments.	1
device	str | device	Torch device.	'cpu'

方法：

名称	描述
randomize	Randomize mapper runtime parameters used by action scaling.
action_to_collective_acc	Map a normalized policy collective action to total collective acceleration.
collective_acc_to_thrust	Convert total collective acceleration into total thrust in Newtons.
action_to_collective_thrust	Convert a normalized policy collective action into total thrust.
decode_action	Decode normalized batched action into a runtime-neutral control request.
map_action	Resolve normalized batched action into simulation rotor RPM commands.

属性：

名称	类型	描述
requires_controller	bool	Whether this mode needs a controller — true when mask has any keys.

requires_controller property

requires_controller: bool

Whether this mode needs a controller — true when mask has any keys.

randomize

randomize(env_ids=None, randomization: dict[str, tuple[float, float]] | None = None) -> None

Randomize mapper runtime parameters used by action scaling.

action_to_collective_acc

action_to_collective_acc(action: Tensor, mixer: Mixer) -> torch.Tensor

Map a normalized policy collective action to total collective acceleration.

返回：

类型	描述
Tensor	The total collective acceleration tensor.

collective_acc_to_thrust

collective_acc_to_thrust(collective_acc: Tensor) -> torch.Tensor

Convert total collective acceleration into total thrust in Newtons.

返回：

类型	描述
Tensor	The total thrust tensor in Newtons.

action_to_collective_thrust

action_to_collective_thrust(action: Tensor, mixer: Mixer) -> torch.Tensor

Convert a normalized policy collective action into total thrust.

返回：

类型	描述
Tensor	The total thrust tensor.

decode_action

decode_action(action: Tensor, mixer: Mixer, *, state: ControllerState | None = None) -> FlightMapping

Decode normalized batched action into a runtime-neutral control request.

返回：

类型	描述
FlightMapping	FlightMapping dictionary containing control targets/commands.

引发：

类型	描述
ValueError	If state is missing when required for control mode.

map_action

map_action(action: Tensor, mixer: Mixer, *, state: ControllerState | None = None, flight_controller: ControllerBase | None = None) -> FlightMapping

Resolve normalized batched action into simulation rotor RPM commands.

返回：

类型	描述
FlightMapping	FlightMapping dictionary containing RPM commands and wrench details.

引发：

类型	描述
ValueError	If flight_controller is missing for mapped modes.

target_to_command

target_to_command(target: ControllerTarget, command_mode: str, state: ControllerState | None = None, output_frame: str = 'world_relative') -> torch.Tensor

Convert dict target batches into compact command vectors.

参数：

名称	类型	描述	默认
target	ControllerTarget	Batched target state dict.	必需
command_mode	str	One of tgt_pos, tgt_vel, tgt_ctatt, tgt_ctbr.	必需
state	ControllerState | None	Batched current state dict; required for tgt_pos mode.	None
output_frame	str	"world_relative" (default) or "yaw_body". "yaw_body" rotates planar commands into the body heading frame.	'world_relative'

返回：

类型	描述
Tensor	The encoded target command tensor.

引发：

类型	描述
ValueError	If state is missing for pos mode or if command_mode is invalid.