swangnice/rotor_py_control
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added feedforward control inputs force and torque

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Yifei Simon Shao
2023-06-11 10:12:50 -04:00
parent f2c544d7b9
commit 2aa5894abc
3 changed files with 104 additions and 1 deletions
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5
rotorpy/trajectories/circular_traj.py
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@@ -113,12 +113,15 @@ class CircularTraj(object):
if self.yaw_bool:
yaw = np.pi/4*np.sin(np.pi*t)
yaw_dot = np.pi*np.pi/4*np.cos(np.pi*t)
yaw_ddot = -np.pi*np.pi*np.pi/4*np.sin(np.pi*t)
else:
yaw = 0
yaw_dot = 0
yaw_ddot = 0
flat_output = { 'x':x, 'x_dot':x_dot, 'x_ddot':x_ddot, 'x_dddot':x_dddot, 'x_ddddot':x_ddddot,
'yaw':yaw, 'yaw_dot':yaw_dot}
'yaw':yaw, 'yaw_dot':yaw_dot, 'yaw_ddot':yaw_ddot}
return flat_output
class ThreeDCircularTraj(object):