multirotor.controller.scurves

Module Contents

Classes

SCurveController

Functions

acc_1d(amax, vmax, v0, v1, disp[, dt])	Solve 1d kinematics problem
_acc_1d(amax, vmax, v0, v1, disp)	Solve 1d kinematics problem
acc_to_target_3d(amax, vmax, v0_vec, v1_vec, disp[, dt])	Solve 3d kinematics problem
acc_to_target_2d(amax, vmax, v0_vec, v1_vec, disp[, dt])	Solve 2d kinematics problem
compute_accel_2d(→ numpy.ndarray)

Attributes

ScurvePlanner

multirotor.controller.scurves.ScurvePlanner = False

class multirotor.controller.scurves.SCurveController(ctrl: multirotor.controller.pid.Controller)

property action

property reference

property feedforward_weight

get_params()

set_params(**params: Dict[str, numpy.ndarray | bool | float | int])

reset()

step(reference: numpy.ndarray, ref_is_error=False)

multirotor.controller.scurves.acc_1d(amax: float, vmax: float, v0: float, v1: float, disp: float, dt: float = 0.01)

Solve 1d kinematics problem

multirotor.controller.scurves._acc_1d(amax: float, vmax: float, v0: float, v1: float, disp: float)

Solve 1d kinematics problem

multirotor.controller.scurves.acc_to_target_3d(amax: numpy.ndarray, vmax: numpy.ndarray, v0_vec: numpy.ndarray, v1_vec: numpy.ndarray, disp: float, dt: float = 0.01)

Solve 3d kinematics problem

multirotor.controller.scurves.acc_to_target_2d(amax: float, vmax: float, v0_vec: numpy.ndarray, v1_vec: numpy.ndarray, disp: float, dt: float = 0.01)

Solve 2d kinematics problem

multirotor.controller.scurves.compute_accel_2d(amax: float, vmax: float, from_position: numpy.ndarray, from_velocity: numpy.ndarray, to_position: numpy.ndarray, to_velocity: numpy.ndarray, dt: float = 0.01) → numpy.ndarray