Multirotor
Classes:
Multirotor class - It defines a base interface for creating a multirotor |
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A data class that is used for configuring a Multirotor |
- class pegasus.simulator.logic.vehicles.multirotor.Multirotor
Bases:
VehicleMultirotor class - It defines a base interface for creating a multirotor
Methods:
__init__([stage_prefix, usd_file, ...])Initializes the multirotor object
force_and_torques_to_velocities(force, torque)Auxiliar method used to get the target angular velocities for each rotor, given the total desired thrust [N] and torque [Nm] to be applied in the multirotor's body frame.
handle_propeller_visual(rotor_number, force, ...)Auxiliar method used to set the joint velocity of each rotor (for animation purposes) based on the amount of force being applied on each joint
start()In this case we do not need to do anything extra when the simulation starts
stop()In this case we do not need to do anything extra when the simulation stops
update(dt)Method that computes and applies the forces to the vehicle in simulation based on the motor speed.
- __init__(stage_prefix='quadrotor', usd_file='', vehicle_id=0, init_pos=[0.0, 0.0, 0.07], init_orientation=[0.0, 0.0, 0.0, 1.0], config=<pegasus.simulator.logic.vehicles.multirotor.MultirotorConfig object>)
Initializes the multirotor object
- Parameters:
stage_prefix (str) – The name the vehicle will present in the simulator when spawned. Defaults to “quadrotor”.
usd_file (str) – The USD file that describes the looks and shape of the vehicle. Defaults to “”.
vehicle_id (int) – The id to be used for the vehicle. Defaults to 0.
init_pos (list) – The initial position of the vehicle in the inertial frame (in ENU convention). Defaults to [0.0, 0.0, 0.07].
init_orientation (list) – The initial orientation of the vehicle in quaternion [qx, qy, qz, qw]. Defaults to [0.0, 0.0, 0.0, 1.0].
config (MultirotorConfig, optional) – Defaults to MultirotorConfig().
- force_and_torques_to_velocities(force, torque)
Auxiliar method used to get the target angular velocities for each rotor, given the total desired thrust [N] and torque [Nm] to be applied in the multirotor’s body frame.
Note: This method assumes a quadratic thrust curve. This method will be improved in a future update, and a general thrust allocation scheme will be adopted. For now, it is made to work with multirotors directly.
- Parameters:
force (np.ndarray) – A vector of the force to be applied in the body frame of the vehicle [N]
torque (np.ndarray) – A vector of the torque to be applied in the body frame of the vehicle [Nm]
- Returns:
A list of angular velocities [rad/s] to apply in reach rotor to accomplish suchs forces and torques
- Return type:
- handle_propeller_visual(rotor_number, force, articulation)
Auxiliar method used to set the joint velocity of each rotor (for animation purposes) based on the amount of force being applied on each joint
- start()
In this case we do not need to do anything extra when the simulation starts
- stop()
In this case we do not need to do anything extra when the simulation stops
- update(dt)
Method that computes and applies the forces to the vehicle in simulation based on the motor speed. This method must be implemented by a class that inherits this type. This callback is called on every physics step.
- Parameters:
dt (float) – The time elapsed between the previous and current function calls (s).