hover_step

Array API hover-step trajectory.

类：

名称	描述
HoverStepTrajectory	Batched piecewise-constant position and yaw trajectory.

HoverStepTrajectory dataclass

HoverStepTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = False, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0), initial: ArrayLike | tuple[float, float, float, float] = (0.0, 0.0, 1.0, 0.0), steps: tuple = ((5.0, (1.0, 0.0, 1.0, 0.0)), (10.0, (1.0, 1.0, 1.5, math.pi / 2.0)), (15.0, (0.0, 1.0, 1.5, math.pi))))

Bases: BaseTrajectory

Batched piecewise-constant position and yaw trajectory.

方法：

名称	描述
__post_init__	Initialize HoverStepTrajectory.
sample	Sample the hover-step trajectory at time t.
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.

__post_init__

__post_init__()

Initialize HoverStepTrajectory.

sample

sample(t: ArrayLike) -> ControllerTarget

Sample the hover-step trajectory at time t.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.