base

Base interfaces for LAV2 dynamics models.

类：

名称	描述
DynamicsBase	Abstract dynamics base class.

DynamicsBase

DynamicsBase(params: VehicleParams)

Bases: ABC

Abstract dynamics base class.

Initialize dynamics with vehicle parameters.

方法：

名称	描述
update	Advance dynamics by one step and return outputs.
reset	Reset internal state to initial conditions.

属性：

名称	类型	描述
params	VehicleParams	Vehicle parameters for the dynamics model.
commands	ndarray | Tensor	Latest control commands applied to the dynamics model.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the dynamics model.

commands instance-attribute

commands: ndarray | Tensor

Latest control commands applied to the dynamics model.

update abstractmethod

update(*args, **kwargs)

Advance dynamics by one step and return outputs.

reset abstractmethod

reset(*args, **kwargs)

Reset internal state to initial conditions.