Commit d58939a7 authored by Ibrahim's avatar Ibrahim
Browse files

bugfix: immutable default dataclass value; 

Made inertia_matrix attribute of multirotor.vehicle.VehicleParams a required parameter,
instead of assigning a np.ndarray default value if it were an optional parameter. Np arrays
are mutable. See: https://stackoverflow.com/q/53632152/4591810
parent 6d6a21d9

README.md

+15 −2
Changes for README.md: 15 added lines, 2 removed lines.
Original line number Diff line number Diff line
@@ -2,6 +2,10 @@ 


Simulation of multi-rotor unmanned aerial vehicles in python.



This package provides an object-oriented interface for modeling and simulating motors, propellers, and airframe of a UAV. Additionally, an OpenAI gym-compatible environment is provided for Reinforcement Learning experiments.



See the [Detailed Demo](./Detailed%20Demo.ipynb) jupyter notebbok for a walkthrough.



Please cite this as:



```
@@ -18,14 +22,23 @@ Please cite this as: 


Install from the Python Package Index (PyPI):



```

```bash

pip install multirotor

```



Or, clone repository and install for development. This will allow you to change the code of the package so the changes show up when you `import multirotor` in other projects.



```

```bash

git clone https://github.com/hazrmard/multirotor.git

cd multirotor

pip install -e .



# to also install dependencies for building package/documentation

pip install -e .[DEV]

```



## Usage



```python



```
 
 No newline at end of file

multirotor/vehicle.py

+6 −6
Changes for multirotor/vehicle.py: 6 added lines, 6 removed lines.
Original line number Diff line number Diff line
@@ -99,6 +99,12 @@ class BatteryParams: 
@dataclass

class VehicleParams:



    mass: float

    "The total mass of the vehicle"

    # TODO: Should moments of inertia of propeller motors be added to this matrix

    # manually? Currently we assume this represents the whole vehicle.

    inertia_matrix: np.ndarray

    "3x3 intertia matrix describing the rotational properties of the body."

    propellers: List[PropellerParams]

    angles: np.ndarray

    "Angle (radians) of propeller arm from the positive x-axis (forward) of the body frame."
@@ -107,14 +113,8 @@ class VehicleParams: 
    clockwise: np.ndarray = None

    """1 if motor spins clockwise, -1 if anti-clockwise, looking from the top.

    Defaults to alternating clockwise/anti-clockwise."""



    battery: BatteryParams = None

    "The battery parameters"

    mass: float = 1.

    # TODO: Should moments of inertia of propeller motors be added to this matrix

    # manually? Currently we assume this represents the whole vehicle.

    inertia_matrix: np.matrix = np.eye(3)

    "3x3 intertia matrix describing the rotational properties of the body."





    def __post_init__(self):