Abstractions#
Description#
The abstractions submodule is, as the name suggests, a set of abstractions that allow easier construction of drones.
It implements various basic components, such as motors or lifting surfaces that allow construction of complicated configurations of drones without requiring reimplementation of all relevant mathematical models.
Custom Drone Example
While this section of the documentation serves as the Rosetta stone for all abstracted components, a very comprehensive tutorial on constructing your own drone can be found in the tutorials section.
Usage#
For all abstracted components, these methods are implemented and must be called within their designated methods for each drone class. Some components may have special functions that need to be called elsewhere, refer to their relevant documentation for more information.
reset: called ondrone.reset().state_update: called ondrone.update_state().(Optional)
get_states: called ondrone.state_update(), this returns the state of the component as a flattenednp.ndarray.physics_update: called ondrone.update_physics().