20 lines
1.5 KiB
Markdown
20 lines
1.5 KiB
Markdown
# Modules
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RotorPy is a simple dynamics simulator for teaching aerial robotics planning and control and preliminary probing of interesting research questions. It is organized into a set of modules:
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* **Vehicles** - Contains the continuous-time dynamics for the UAV of interest.
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* **Sensors** - Transforms ground truth vehicle state into noisy and biased measurements.
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* **Worlds** - Contains `json` map files for constructing world bounds and obstacles.
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* **Controllers** - Stabilizes the vehicle to a trajectory.
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* **Trajectories** - Dictates the desired motion of the vehicle in time.
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* **Wind** - Custom spatial and/or temporal vector fields that add external disturbances to the vehicle.
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* **Estimators** - Use measurements from sensors and a model of the dynamics to filter or estimate beliefs of states or parameters.
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These modules come together in `environment.py` which contains the necessary functions for instantiation, execution, and plotting/saving. The simulation is actually carried out in `simulate.py` which will step the vehicle forward in time, governed by the dynamics, trajectory, controller, and sensor measurements.
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# License Note
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The package rotorpy itself is released under the MIT License. Contributions of improvements, bug fixes, and documentation are welcome. Course instructors would enjoy hearing if you use RotorPy as a template for other projects.
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Please note that RotorPy (and its open source license) does not include course materials such as assignments, solutions, and server integrations.
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