From ed0b8b1be6a9f74d273a23e1c18620a18d957f08 Mon Sep 17 00:00:00 2001 From: shaoanlu Date: Fri, 3 May 2024 01:48:54 +0900 Subject: [PATCH] add source of the quadrotor model --- core/env/planar_quadrotor.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/core/env/planar_quadrotor.py b/core/env/planar_quadrotor.py index 4f7a746..3d7dc29 100644 --- a/core/env/planar_quadrotor.py +++ b/core/env/planar_quadrotor.py @@ -30,6 +30,9 @@ def __init__(self, config: dict = None, state: Optional[jnp.ndarray] = None): def step(self, state=None, control=[0, 0], dt: float = 0.01): """ dynamics with JAX-compatible code. + + Equations are from the Aerial Robotics coursera lecture + https://www.coursera.org/lecture/robotics-flight/2-d-quadrotor-control-kakc6 """ if state is None: state = self.state