udaan.models.base.multi_pointmass_suspended_payload module

class udaan.models.base.multi_pointmass_suspended_payload.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.