udaan.models.base package

Submodules

• udaan.models.base.floating_pointmass module
  • FloatingPointmass
• udaan.models.base.multi_pointmass_suspended_payload module
  • MultiPointmassSuspendedPayload
• udaan.models.base.pointmass_suspended_payload module
  • PointmassSuspendedPayload
• udaan.models.base.s2_pendulum module
  • S2Pendulum

Module contents

class udaan.models.base.BaseModel

Bases: object

__init__(**kwargs)

get_action_size()

get_state_size()

reset()

simulate(**kwargs)

step(action)

class udaan.models.base.FloatingPointmass

Bases: BaseModel

Floating point-mass model: a 3D point mass subject to gravity and an external force input.

State: position (3), velocity (3) -> n_state=6, n_action=3

class State

Bases: object

__init__()

reset()

__init__(**kwargs)

get_rand_init_state(rand=True)

reset(**kwargs)

step(action)

class udaan.models.base.MultiPointmassSuspendedPayload

Bases: BaseModel

Multiple pointmass quadrotors carrying a single point-mass payload.

State: payload_position (3), payload_velocity (3),

cable_attitudes (3, nQ), cable_ang_velocities (3, nQ)

-> n_state = 6 + 6*nQ, n_action = 3*nQ

class State

Bases: object

__init__(nQ)

reset()

__init__(**kwargs)

get_rand_init_state(rand=False)

reset(**kwargs)

step(action)

Step the dynamics forward by sim_timestep.

Parameters:

action – (3, nQ) force matrix or (3*nQ,) flat vector.

class udaan.models.base.PointmassSuspendedPayload

Bases: BaseModel

Single pointmass quadrotor with cable-suspended payload.

State: payload_position (3), payload_velocity (3),

cable_attitude (3, S2), cable_ang_velocity (3)

-> n_state=12, n_action=3

class State

Bases: object

__init__()

property cable_dq

property quadrotor_position

property quadrotor_velocity

reset()

__init__(**kwargs)

static err_om(omd, om, q)

static err_q(qd, q)

get_rand_init_state(rand=False)

property quadrotor_position

property quadrotor_velocity

reset(**kwargs)

step(action)

class udaan.models.base.S2Pendulum

Bases: BaseModel

Pendulum model with attitude on S2.

State: attitude (S2 unit vector, 3), angular_velocity (3) -> n_state=6, n_action=3

class State

Bases: object

__init__()

reset()

__init__(**kwargs)

get_rand_init_state(rand=True)

reset(**kwargs)

step(action)