simple_quad_sim.BulletFDM Class Reference

Public Member Functions
def	__init__ (self, dt=0.02, GUI=True, debug=False, urdf="robobee.urdf")
def	apply_force_and_moments (self, rpm)
def	step (self, commands)
def	step_debug (self, commands)
def	get_observation (self)
def	reset (self)

Data Fields
	dt
	physicsClient
	planeId
	textureId
	vehicle_start_pos
	vehicle_start_orientation
	vehicle
	KF
	KM
	vel
	accel
	ang_vel
	ang_accel
	observation
	roll_Id
	pitch_Id
	yaw_Id

Detailed Description

Definition at line 12 of file simple_quad_sim.py.

Constructor & Destructor Documentation

__init__()

def simple_quad_sim.BulletFDM.__init__	(		self,
			dt = 0.02,
			GUI = True,
			debug = False,
			urdf = "robobee.urdf"
	)

Definition at line 13 of file simple_quad_sim.py.

Member Function Documentation

apply_force_and_moments()

def simple_quad_sim.BulletFDM.apply_force_and_moments	(		self,
			rpm
	)

 rpm = [ quadrotor prop rpms ]

Definition at line 67 of file simple_quad_sim.py.

References simple_quad_sim.BulletFDM.KF, simple_quad_sim.BulletFDM.KM, simple_quad_sim.BulletFDM.physicsClient, and simple_quad_sim.BulletFDM.vehicle.

Referenced by simple_quad_sim.BulletFDM.step().

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get_observation()

def simple_quad_sim.BulletFDM.get_observation

(

self

)

Definition at line 138 of file simple_quad_sim.py.

References HorizontalGuidanceReference.accel, HorizontalGuidanceSetpoint.accel, GuidanceHRef.accel, RotorcraftNavigation.accel, AttRefEulerFloat.accel, AttRefEulerInt.accel, AttRefQuatFloat.accel, AttRefQuatInt.accel, inv_measures.accel, AhrsMadgwick.accel, ImuNps.accel, inv_command.accel, MekfWindState.accel, MekfWindInputs.accel, Xsens.accel, ekfAwInputs.accel, ExtU.accel, ImuHitl.accel, VNData.accel, NpsSensors.accel, simple_quad_sim.BulletFDM.accel, simple_quad_sim.BulletFDM.ang_accel, simple_quad_sim.BulletFDM.ang_vel, DshotPackets.dt, SimpleKinematicKalman.dt, GuidanceHRef.dt, EKFRange.dt, ukf_params_tag.dt, discrete_ekf.dt, discrete_ekf_no_north.dt, simple_quad_sim.BulletFDM.dt, simple_quad_sim.BulletFDM.observation, simple_quad_sim.BulletFDM.vehicle, OneloopGuidanceRef.vel, OneloopGuidanceState.vel, OpticalFlowLanding.vel, dragspeed_t.vel, Xsens.vel, and simple_quad_sim.BulletFDM.vel.

Referenced by simple_quad_sim.BulletFDM.reset(), simple_quad_sim.BulletFDM.step(), and simple_quad_sim.BulletFDM.step_debug().

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reset()

def simple_quad_sim.BulletFDM.reset

(

self

)

Definition at line 160 of file simple_quad_sim.py.

References simple_quad_sim.BulletFDM.get_observation(), simple_quad_sim.BulletFDM.vehicle, simple_quad_sim.BulletFDM.vehicle_start_orientation, and simple_quad_sim.BulletFDM.vehicle_start_pos.

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step()

def simple_quad_sim.BulletFDM.step	(		self,
			commands
	)

Definition at line 97 of file simple_quad_sim.py.

References simple_quad_sim.BulletFDM.apply_force_and_moments(), simple_quad_sim.BulletFDM.get_observation(), and simple_quad_sim.BulletFDM.physicsClient.

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step_debug()

def simple_quad_sim.BulletFDM.step_debug	(		self,
			commands
	)

Definition at line 114 of file simple_quad_sim.py.

References simple_quad_sim.BulletFDM.get_observation(), simple_quad_sim.BulletFDM.physicsClient, simple_quad_sim.BulletFDM.pitch_Id, simple_quad_sim.BulletFDM.roll_Id, simple_quad_sim.BulletFDM.vehicle, and simple_quad_sim.BulletFDM.yaw_Id.

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Field Documentation

accel

simple_quad_sim.BulletFDM.accel

Definition at line 52 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.get_observation().

ang_accel

simple_quad_sim.BulletFDM.ang_accel

Definition at line 55 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.get_observation().

ang_vel

simple_quad_sim.BulletFDM.ang_vel

Definition at line 54 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.get_observation().

dt

simple_quad_sim.BulletFDM.dt

Definition at line 22 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.get_observation().

KF

simple_quad_sim.BulletFDM.KF

Definition at line 49 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.apply_force_and_moments().

KM

simple_quad_sim.BulletFDM.KM

Definition at line 49 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.apply_force_and_moments().

observation

simple_quad_sim.BulletFDM.observation

Definition at line 58 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.get_observation().

physicsClient

simple_quad_sim.BulletFDM.physicsClient

Definition at line 24 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.apply_force_and_moments(), simple_quad_sim.BulletFDM.step(), and simple_quad_sim.BulletFDM.step_debug().

pitch_Id

simple_quad_sim.BulletFDM.pitch_Id

Definition at line 64 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.step_debug().

planeId

simple_quad_sim.BulletFDM.planeId

Definition at line 31 of file simple_quad_sim.py.

roll_Id

simple_quad_sim.BulletFDM.roll_Id

Definition at line 63 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.step_debug().

textureId

simple_quad_sim.BulletFDM.textureId

Definition at line 32 of file simple_quad_sim.py.

vehicle

simple_quad_sim.BulletFDM.vehicle

Definition at line 38 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.apply_force_and_moments(), simple_quad_sim.BulletFDM.get_observation(), simple_quad_sim.BulletFDM.reset(), and simple_quad_sim.BulletFDM.step_debug().

vehicle_start_orientation

simple_quad_sim.BulletFDM.vehicle_start_orientation

Definition at line 35 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.reset().

vehicle_start_pos

simple_quad_sim.BulletFDM.vehicle_start_pos

Definition at line 34 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.reset().

vel

simple_quad_sim.BulletFDM.vel

Definition at line 51 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.get_observation().

yaw_Id

simple_quad_sim.BulletFDM.yaw_Id

Definition at line 65 of file simple_quad_sim.py.

Referenced by simple_quad_sim.BulletFDM.step_debug().

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The documentation for this class was generated from the following file:

• sw/simulator/nps/pybullet/simple_quad_sim.py