swangnice/rotor_py_control
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Fixed documentation

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spencerfolk
2023-12-20 20:41:17 -05:00
parent 280b54f824
commit b93166fc3b
1 changed files with 3 additions and 2 deletions
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rotorpy/vehicles/multirotor.py
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@@ -40,10 +40,11 @@ class Multirotor(object):
quad_params: a dictionary containing relevant physical parameters for the multirotor. quad_params: a dictionary containing relevant physical parameters for the multirotor.
initial_state: the initial state of the vehicle. initial_state: the initial state of the vehicle.
control_abstraction: the appropriate control abstraction that is used by the controller, options are... control_abstraction: the appropriate control abstraction that is used by the controller, options are...
'cmd_motor_speed': the controller directly commands motor speeds. 'cmd_motor_speeds': the controller directly commands motor speeds.
'cmd_motor_force': the controller commands forces for each rotor. 'cmd_motor_thrusts': the controller commands forces for each rotor.
'cmd_ctbr': the controller commands a collective thrsut and body rates. 'cmd_ctbr': the controller commands a collective thrsut and body rates.
'cmd_ctbm': the controller commands a collective thrust and moments on the x/y/z body axes 'cmd_ctbm': the controller commands a collective thrust and moments on the x/y/z body axes
'cmd_ctatt': the controller commands a collective thrust and attitude (as a quaternion).
'cmd_vel': the controller commands a velocity vector in the body frame. 'cmd_vel': the controller commands a velocity vector in the body frame.
""" """
def __init__(self, quad_params, initial_state = {'x': np.array([0,0,0]), def __init__(self, quad_params, initial_state = {'x': np.array([0,0,0]),