swangnice/rotor_py_control
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Removed unnecessary call to update_ref

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spencerfolk
2023-12-12 13:53:11 -05:00
parent b6ccd20ce1
commit b215519cca
1 changed files with 0 additions and 1 deletions
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rotorpy/simulate.py
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@@ -98,7 +98,6 @@ def simulate(world, initial_state, vehicle, controller, trajectory, wind_profile
control = [sanitize_control_dic(controller.update(time[-1], mocap_measurements[-1], flat[-1]))] control = [sanitize_control_dic(controller.update(time[-1], mocap_measurements[-1], flat[-1]))]
else: else:
control = [sanitize_control_dic(controller.update(time[-1], state[-1], flat[-1]))] control = [sanitize_control_dic(controller.update(time[-1], state[-1], flat[-1]))]
control_ref = [sanitize_control_dic(controller.update_ref(time[-1], flat[-1]))]
state_dot = vehicle.statedot(state[0], control[0]['cmd_motor_speeds'], t_step) state_dot = vehicle.statedot(state[0], control[0]['cmd_motor_speeds'], t_step)
imu_measurements.append(imu.measurement(state[-1], state_dot, with_noise=True)) imu_measurements.append(imu.measurement(state[-1], state_dot, with_noise=True))
imu_gt.append(imu.measurement(state[-1], state_dot, with_noise=False)) imu_gt.append(imu.measurement(state[-1], state_dot, with_noise=False))