Init

rotorpy/controllers/controller_template.py

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+"""
+Imports
+"""
+import numpy as np
+from scipy.spatial.transform import Rotation  # This is a useful library for working with attitude.
+
+class ControlTemplate(object):
+    """
+    The controller is implemented as a class with two required methods: __init__() and update(). 
+    The __init__() is used to instantiate the controller, and this is where any model parameters or 
+    controller gains should be set. 
+    In update(), the current time, state, and desired flat outputs are passed into the controller at 
+    each simulation step. The output of the controller should be the commanded motor speeds, 
+    commanded thrust, commanded moment, and commanded attitude (in quaternion [x,y,z,w] format). 
+    """
+    def __init__(self, vehicle_params):
+        """
+
+        Parameters:
+            vehicle_params, dict with keys specified in a python file under /rotorpy/vehicles/
+
+        """
+
+    def update(self, t, state, flat_output):
+        """
+        This function receives the current time, true state, and desired flat
+        outputs. It returns the command inputs.
+
+        Inputs:
+            t, present time in seconds
+            state, a dict describing the present state with keys
+                x, position, m
+                v, linear velocity, m/s
+                q, quaternion [i,j,k,w]
+                w, angular velocity, rad/s
+            flat_output, a dict describing the present desired flat outputs with keys
+                x,        position, m
+                x_dot,    velocity, m/s
+                x_ddot,   acceleration, m/s**2
+                x_dddot,  jerk, m/s**3
+                x_ddddot, snap, m/s**4
+                yaw,      yaw angle, rad
+                yaw_dot,  yaw rate, rad/s
+
+        Outputs:
+            control_input, a dict describing the present computed control inputs with keys
+                cmd_motor_speeds, rad/s
+                cmd_thrust, N (for debugging and laboratory; not used by simulator)
+                cmd_moment, N*m (for debugging; not used by simulator)
+                cmd_q, quaternion [i,j,k,w] (for laboratory; not used by simulator)
+        """
+        cmd_motor_speeds = np.zeros((4,))
+        cmd_thrust = 0
+        cmd_moment = np.zeros((3,))
+        cmd_q = np.array([0,0,0,1])
+
+        control_input = {'cmd_motor_speeds':cmd_motor_speeds,
+                         'cmd_thrust':cmd_thrust,
+                         'cmd_moment':cmd_moment,
+                         'cmd_q':cmd_q}
+        return control_input