:py:mod:`multirotor.physics`
============================

.. py:module:: multirotor.physics


Module Contents
---------------


Functions
~~~~~~~~~

.. autoapisummary::

   multirotor.physics.thrustEqn
   multirotor.physics.thrust
   multirotor.physics.torque
   multirotor.physics._apply_forces_torques



Attributes
~~~~~~~~~~

.. autoapisummary::

   multirotor.physics.apply_forces_torques


.. py:function:: thrustEqn(vi, *prop_params)


.. py:function:: thrust(prop_speed, airstream_velocity, R, A, rho, a, b, c, eta, theta0, theta1) -> float


.. py:function:: torque(position_vector: numpy.ndarray, force: numpy.ndarray, moment_of_inertia: float, prop_angular_acceleration: float, drag_coefficient: float, prop_angular_velocity: float, clockwise: int) -> numpy.ndarray

   Calculates the torque acting on the three body axes (roll, pitch, yaw), due 
   to a single propeller.

   Parameters
   ----------
   position_vector : np.ndarray
       Position vector of force, relative to center of mass. If multiple vectors,
       should be in shape 3 x n_vectors.
   force : np.ndarray
       Force vector acting at that position (nominally thrust). If multiple vectors,
       should be in shape 3 x n_vectors.
   moment_of_inertia : float
       Moment of inertia of the body.
   prop_angular_acceleration : float
       Angular acceleration experienced by propeller.
   drag_coefficient : float
       The drag coefficient of propeller.
   prop_angular_velocity : float
       Propeller speed (rad/s)
   clockwise : int
       Whether propeller is spinning clockwise or counter clockwise.

   Returns
   -------
   np.ndarray
       The torque due to the propeller acting on the center of mass.


.. py:function:: _apply_forces_torques(forces: numpy.ndarray, torques: numpy.ndarray, x: numpy.ndarray, g: float, mass: float, inertia_matrix: numpy.matrix, inertia_matrix_inverse: numpy.matrix) -> numpy.ndarray

   Given forces and torqes, return the rate of change of state.

   Parameters
   ----------
   forces : np.ndarray
       Forces acting in the body frame.
   torques : np.ndarray
       Torques acting in the body frame.
   x : np.ndarray
       State of the vehicle.
   g : float
       Gravitational acceleration.
   mass : float
       Mass of the vehicle.
   inertia_matrix : np.matrix
       Inertial matrix.
   inertia_matrix_inverse : np.matrix
       Inverse of inertial matrix.

   Returns
   -------
   np.ndarray
       The rate of change of state d(state)/dt


.. py:data:: apply_forces_torques