rotor

Array API rotor dynamics model for thrust and torque outputs.

类：

名称	描述
RotorDynamics	Batched motor dynamics model for rotor thrust and torque.

RotorDynamics

RotorDynamics(params: VehicleParams = VehicleParams(), num_envs: int = 1, device=None, *, backend: BackendName | None = None, xp: ModuleType | None = None)

Bases: DynamicsBase

Batched motor dynamics model for rotor thrust and torque.

This is the backend-agnostic Array API implementation. It keeps the same low-pass motor response, RPM rate limiting, quadratic thrust/torque coefficients, and motor-direction torque signs while operating on (num_envs, 4) batches.

See :mod:lav2.dynamics.numpy.rotor and :mod:lav2.dynamics.torch.rotor for the legacy backend-specific implementations.

Initialize rotor dynamics and backend arrays.

参数：

名称	类型	描述	默认
params	VehicleParams	Vehicle parameters used by the motor model.	VehicleParams()
num_envs	int	Number of parallel environments represented by the batch.	1
device		Optional backend device, mainly used by Torch.	None
backend	BackendName | None	Explicit Array API backend name.	None
xp	ModuleType | None	Pre-resolved Array API namespace. Overrides backend.	None

方法：

名称	描述
randomize	Randomize motor parameters for selected environments.
update	Update motor state and return thrust/torque outputs.
reset	Reset selected environments to initial rotor speeds.

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.

randomize

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

Randomize motor parameters for selected environments.

update

update(commands: ArrayLike) -> ArrayLike

Update motor state and return thrust/torque outputs.

参数：

名称	类型	描述	默认
commands	ArrayLike	Desired rotor speeds with shape (num_envs, 4).	必需

返回：

类型	描述
ArrayLike	Batched thrusts followed by torques with shape (num_envs, 8).

reset

reset(env_ids=None)

Reset selected environments to initial rotor speeds.