track

Track dynamics model for ground locomotion.

类：

名称	描述
TrackDynamics	Track dynamics model for left/right traction forces.

TrackDynamics

TrackDynamics(params: VehicleParams = VehicleParams())

Bases: DynamicsBase

Track dynamics model for left/right traction forces.

Initialize track dynamics geometry and normal load distribution.

方法：

名称	描述
update	Calculate the output force of the tracks based on track commands.
reset	Reset 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: ndarray, state: ndarray) -> np.ndarray

Calculate the output force of the tracks based on track commands.

参数：

名称	类型	描述	默认
commands	ndarray	Command array for each track. Shape: (2,)	必需
state	ndarray	Current vehicle state array. Shape: (3,)	必需

返回：

类型	描述
ndarray	np.ndarray: Force array for each track. Shape: (2, n_w, 2) [side, wheel, (Fx, Fy)]

reset

reset()

Reset the track model to initial conditions.