udaan.models.quadrotor_cspayload.base module

QuadrotorCsPayloadBase — pure dynamics and state, no rendering.

Rigid body with cable-suspended payload dynamics with ZOH (zero-order hold) Euler integration.

Dynamics reference: Koushil Sreenath, Taeyoung Lee, and Vijay Kumar. “Geometric control and differential flatness of a quadrotor UAV with a cable-suspended load.” In 52nd IEEE Conference on Decision and Control, pp. 2269-2274. IEEE, 2013. https://hybrid-robotics.berkeley.edu/publications/CDC2013_supplement.pdf

class udaan.models.quadrotor_cspayload.base.QuadrotorCsPayloadBase

Bases: object

Base quadrotor-cable-suspended payload model — pure dynamics, no rendering.

Supports multiple input types (acceleration, wrench, propeller forces) and force types (wrench, propeller forces). Controllers are pluggable via position_controller and attitude_controller properties.

FORCE_TYPE

alias of ForceType

INPUT_TYPE

alias of InputType

__init__(**kwargs)

property attitude_controller

property cable_length: float

property inertia

property inertia_inv

property mass

property payload_controller

property payload_mass: float

property position_controller

reset(**kwargs)

simulate(tf, **kwargs)

Run closed-loop simulation to time tf.

step(u, desired_att=None)

One outer step: repackage input, then run inner substeps.

class udaan.models.quadrotor_cspayload.base.QuadrotorCsPayloadState

Bases: object

Quadrotor with cable-suspended payload state.

__init__(position=<factory>, velocity=<factory>, orientation=<factory>, angular_velocity=<factory>, payload_position=<factory>, payload_velocity=<factory>, cable_attitude=<factory>, cable_angular_velocity=<factory>)

angular_velocity: TSO3

cable_angular_velocity: TS2

cable_attitude: S2

dq()

orientation: SO3

payload_position: ndarray[tuple[Any, ...], dtype[floating]]

payload_velocity: ndarray[tuple[Any, ...], dtype[floating]]

position: ndarray[tuple[Any, ...], dtype[floating]]

reset()

velocity: ndarray[tuple[Any, ...], dtype[floating]]