udaan.models.base.pointmass_suspended_payload module

class udaan.models.base.pointmass_suspended_payload.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)