rotor

Rotor dynamics model for thrust and torque outputs.

类：

名称	描述
RotorDynamics	Motor dynamics model for rotor thrust and torque.

RotorDynamics

RotorDynamics(params: VehicleParams = VehicleParams())

Bases: DynamicsBase

Motor dynamics model for rotor thrust and torque.

References

• Aerial Gym: https://github.com/ntnu-arl/aerial_gym_simulator/blob/main/aerial_gym/control/motor_model.py
• MARL_cooperative_aerial_manipulation_ext: https://github.com/Aerial-Manipulation-Lab/MARL_cooperative_aerial_manipulation_ext/blob/main/exts/MARL_mav_carry_ext/MARL_mav_carry_ext/controllers/motor_model.py
• isaac_drone_racer: https://github.com/kousheekc/isaac_drone_racer/blob/master/dynamics/motor.py

Initialize rotor dynamics and rate-limit parameters.

方法：

名称	描述
update	Calculate the output thrust and torque for each motor based on the motor commands.
reset	Reset the rotor model to initial conditions.

属性：

名称	类型	描述
params	VehicleParams	Vehicle parameters for the dynamics model.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the dynamics model.

update

update(commands: ndarray) -> np.ndarray

Calculate the output thrust and torque for each motor based on the motor commands.

参数：

名称	类型	描述	默认
commands	ndarray	Command array for each motor. Shape: (4,)	必需

返回：

类型	描述
ndarray	np.ndarray: Thrust and torque array for each motor. Shape: (8,)

reset

reset()

Reset the rotor model to initial conditions.