Quadrotor environment reference

class QuadrotorEnv

QuadrotorEnv()

Constructs a QuadrotorEnv from the configuration file “/flightlib/configs/quadrotor_env.yaml”.

Return type:: QuadrotorEnv

QuadrotorEnv(const std::string &cfg_path)

Constructs a QuadrotorEnv from the given configuration file.

Parameters:: cfg_path (std::string) – configuration file path
Return type:: QuadrotorEnv

~QuadrotorEnv()

Deconstructs this QuadrotorEnv.

Return type:: None

reset(Ref<Vector<>> obs, const bool random)

Reset the quadrotor state and get observations.

//full states of the quadrotor

obs = [position, orientation, linear velocity, angular velocity]

Parameters:

obs (Ref<Vector<>>) – Observations
random (const bool) – randomly reset the quadrotor state

Return type:

bool

getObs(Ref<Vector<>> obs)

Get observations.

//full states of the quadrotor

obs = [position, orientation, linear velocity, angular velocity]

Parameters:: obs (Ref<Vector<>>) – Observations
Return type:: bool

step(const Ref<Vector<>> act, Ref<Vector<>> obs)

Simulate one step with the given thrusts.

Get observations and the total reward of this step.

// thrusts of each propeller

act = [f1, f2, f3, f4]

//full states of the quadrotor

obs = [position, orientation, linear velocity, angular velocity]

Parameters:

act (const Ref<Vector<>>) – thrusts of each propeller
obs (Ref<Vector<>>) – Observations

Return type:

Total reward (Scalar)

isTerminalState(Scalar &reward)

Check if terminal state is reached.

Parameters:: reward (Scalar) – Reward of state
Return type:: bool

loadParam(const YAML::Node &cfg)

Load the QuadrotorEnv parameters.

Parameters:: cfg (const YAML::Node) – configuration YAML
Return type:: bool

getAct(Ref<Vector<>> act)

Get thrusts for commands.

// thrusts of each propeller

act = [f1, f2, f3, f4]

Parameters:: act (const Ref<Vector<>>) – thrusts of each propeller
Return type:: bool

getAct(Command *const cmd)

Get the next command for the quadrotor.

Parameters:: cmd (Command) – Quadrotor command
Return type:: bool

addObjectsToUnity(std::shared_ptr<UnityBridge> bridge)

Add the quadrotor to Flightmare.

Parameters:: bridge (std::shared_ptr<UnityBridge>) – Unity bridge
Return type:: None