udaan.utils.plotting.quadrotor_cspayload module

Quadrotor with cable-suspended payload — Bokeh plotting and history capture.

udaan.utils.plotting.quadrotor_cspayload.plot_quadrotor_cspayload_simulation(history, target=None)

Create a Bokeh grid of time-series plots for cspayload simulation history.

udaan.utils.plotting.quadrotor_cspayload.record_quadrotor_cspayload_state(mdl, tf, target)

Simulate a QuadrotorCsPayload model and record full state history.

Parameters:

• mdl – QuadrotorCsPayloadBase instance (already reset to initial state).

• tf – simulation duration in seconds.

• target – payload target position (3-vector), used for error computation.

Returns:

dict of numpy arrays keyed by signal name.