track

Torch track dynamics for batched simulation.

类：

名称	描述
TrackDynamics	Batched track dynamics model.

TrackDynamics

TrackDynamics(params: VehicleParams = VehicleParams(), num_envs: int = 1, device: str | device = 'cpu')

Bases: DynamicsBase

Batched track dynamics model.

Initialize batched track dynamics on the specified device.

方法：

名称	描述
update	Compute track forces for batched environments.
reset	Resets the track 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: Tensor, state: Tensor) -> torch.Tensor

Compute track forces for batched environments.

参数：

名称	类型	描述	默认
commands	Tensor	Shape (num_envs, 2) track commands [left, right].	必需
state	Tensor	Shape (num_envs, 3) body-frame velocities [u, v, r].	必需

返回：

类型	描述
Tensor	torch.Tensor: Tensor of shape (num_envs, 2, n_w, 2) [side, wheel, (Fx, Fy)].

reset

reset(env_ids: slice | Sequence[int] | Tensor) -> None

Resets the track model to initial conditions.

参数：

名称	类型	描述	默认
env_ids	slice | Sequence[int] | Tensor	The environment ids to reset.	必需