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@@ -225,6 +225,8 @@
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+<li class="toctree-l2"><a class="reference internal" href="/observations/#kinematics">Kinematics</a></li>
+<li class="toctree-l2"><a class="reference internal" href="/observations/#dynamics">Dynamics</a></li>
 <li class="toctree-l2"><a class="reference internal" href="/actions/">Actions</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../observations/#kinematics">Kinematics</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../observations/#dynamics">Dynamics</a></li>
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@@ -304,37 +305,103 @@ <h1>Actions<a class="headerlink" href="#actions" title="Link to this heading">¶
 </div>
 <section id="continuous-actions">
 <h2>Continuous Actions<a class="headerlink" href="#continuous-actions" title="Link to this heading">¶</a></h2>
-<!-- The {py:class}`~flyer_env.envs.common.action.ContinuousAction` type allows for direct control of the agents controls 
-either with a {ref}`FlyingVehicle <vehicle_kinematics>` or {ref}`AircraftVehicle <vehicle_dynamics>`. These 
-commands include:
-
-| Control Surface              |    Nomenclature     |    Range    | Unit |
-|------------------------------|:-------------------:|:-----------:|:----:|
-| **Elevator**                 |   $\delta_{\eta}$   | [-1.0, 1.0] |  [-] |
-| **Aileron**                  | $\delta_{\epsilon}$ | [-1.0, 1.0] |  [-] |
-| **Thrust Lever Angle (TLA)** |   $\delta_{tla}$    |  [0.0, 1.0] |  [-] |
-
-## Controlled Actions
-
-The {py:class}`~flyer_env.envs.common.action.ControlledAction` type is a higher order action type to control the 
-aircraft's heading, altitude, and speed with a {ref}`FlyingVehicle <vehicle_kinematics>`. These commands include:
-
-| Controlled Parameter | Nomenclature |      Range     |   Unit   |
-|----------------------|:------------:|:--------------:|:--------:|
-| **Heading**          |   $\theta$   | [-$\pi$,$\pi$] | [$rads$] |
-| **Altitude**         |     $H$      |  [0.0, 10,000] |   [$m$]  |
-| **Airspeed**         | $V_{\infty}$ |  [0.0, 300.0]  |  [$m/s$] |
-
-## Pursuit Actions
-
-The {py:class}`~flyer_env.envs.common.action.PursuitAction` type is a higher order action type used to navigate a 
-{ref}`FlyingVehicle <vehicle_kinematics>` to a specific 2D point at a fixed altitude and speed. These commands include:
-
-| Controlled Parameter | Nomenclature |     Range     |   Unit  |
-|----------------------|:------------:|:-------------:|:-------:|
-| **GoalPos**          |   $s_{g}$    |      [-]      |  [$m$]  |
-| **Altitude**         |     $H$      | [0.0, 10,000] |  [$m$]  |
-| **Airspeed**         | $V_{\infty}$ |  [0.0, 300.0] | [$m/s$] | -->
+<p>The <code class="xref py py-class docutils literal notranslate"><span class="pre">ContinuousAction</span></code> type allows for direct control of the agents controls
+either with a <span class="xref std std-ref">FlyingVehicle</span> or <span class="xref std std-ref">AircraftVehicle</span>. These
+commands include:</p>
+<div class="table-wrapper colwidths-auto docutils container">
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Control Surface</p></th>
+<th class="head text-center"><p>Nomenclature</p></th>
+<th class="head text-center"><p>Range</p></th>
+<th class="head text-center"><p>Unit</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><strong>Elevator</strong></p></td>
+<td class="text-center"><p><span class="math notranslate nohighlight">\(\delta_{\eta}\)</span></p></td>
+<td class="text-center"><p>[-1.0, 1.0]</p></td>
+<td class="text-center"><p>[-]</p></td>
+</tr>
+<tr class="row-odd"><td><p><strong>Aileron</strong></p></td>
+<td class="text-center"><p><span class="math notranslate nohighlight">\(\delta_{\epsilon}\)</span></p></td>
+<td class="text-center"><p>[-1.0, 1.0]</p></td>
+<td class="text-center"><p>[-]</p></td>
+</tr>
+<tr class="row-even"><td><p><strong>Thrust Lever Angle (TLA)</strong></p></td>
+<td class="text-center"><p><span class="math notranslate nohighlight">\(\delta_{tla}\)</span></p></td>
+<td class="text-center"><p>[0.0, 1.0]</p></td>
+<td class="text-center"><p>[-]</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="controlled-actions">
+<h2>Controlled Actions<a class="headerlink" href="#controlled-actions" title="Link to this heading">¶</a></h2>
+<p>The <code class="xref py py-class docutils literal notranslate"><span class="pre">ControlledAction</span></code> type is a higher order action type to control the
+aircraft’s heading, altitude, and speed with a <span class="xref std std-ref">FlyingVehicle</span>. These commands include:</p>
+<div class="table-wrapper colwidths-auto docutils container">
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Controlled Parameter</p></th>
+<th class="head text-center"><p>Nomenclature</p></th>
+<th class="head text-center"><p>Range</p></th>
+<th class="head text-center"><p>Unit</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><strong>Heading</strong></p></td>
+<td class="text-center"><p><span class="math notranslate nohighlight">\(\theta\)</span></p></td>
+<td class="text-center"><p>[<span class="math notranslate nohighlight">\(- \pi , \pi \)</span>]</p></td>
+<td class="text-center"><p>[<span class="math notranslate nohighlight">\(rads\)</span>]</p></td>
+</tr>
+<tr class="row-odd"><td><p><strong>Altitude</strong></p></td>
+<td class="text-center"><p><span class="math notranslate nohighlight">\(H\)</span></p></td>
+<td class="text-center"><p>[0.0, 10,000]</p></td>
+<td class="text-center"><p>[<span class="math notranslate nohighlight">\(m\)</span>]</p></td>
+</tr>
+<tr class="row-even"><td><p><strong>Airspeed</strong></p></td>
+<td class="text-center"><p><span class="math notranslate nohighlight">\(V_{\infty}\)</span></p></td>
+<td class="text-center"><p>[0.0, 300.0]</p></td>
+<td class="text-center"><p>[<span class="math notranslate nohighlight">\(m/s\)</span>]</p></td>
+</tr>
+</tbody>
+</table>
+</div>
+</section>
+<section id="pursuit-actions">
+<h2>Pursuit Actions<a class="headerlink" href="#pursuit-actions" title="Link to this heading">¶</a></h2>
+<p>The <code class="xref py py-class docutils literal notranslate"><span class="pre">PursuitAction</span></code> type is a higher order action type used to navigate a
+<span class="xref std std-ref">FlyingVehicle</span> to a specific 2D point at a fixed altitude and speed. These commands include:</p>
+<div class="table-wrapper colwidths-auto docutils container">
+<table class="docutils align-default">
+<thead>
+<tr class="row-odd"><th class="head"><p>Controlled Parameter</p></th>
+<th class="head text-center"><p>Nomenclature</p></th>
+<th class="head text-center"><p>Range</p></th>
+<th class="head text-center"><p>Unit</p></th>
+</tr>
+</thead>
+<tbody>
+<tr class="row-even"><td><p><strong>GoalPos</strong></p></td>
+<td class="text-center"><p><span class="math notranslate nohighlight">\(s_{g}\)</span></p></td>
+<td class="text-center"><p>[-]</p></td>
+<td class="text-center"><p>[<span class="math notranslate nohighlight">\(m\)</span>]</p></td>
+</tr>
+<tr class="row-odd"><td><p><strong>Altitude</strong></p></td>
+<td class="text-center"><p><span class="math notranslate nohighlight">\(H\)</span></p></td>
+<td class="text-center"><p>[0.0, 10,000]</p></td>
+<td class="text-center"><p>[<span class="math notranslate nohighlight">\(m\)</span>]</p></td>
+</tr>
+<tr class="row-even"><td><p><strong>Airspeed</strong></p></td>
+<td class="text-center"><p><span class="math notranslate nohighlight">\(V_{\infty}\)</span></p></td>
+<td class="text-center"><p>[0.0, 300.0]</p></td>
+<td class="text-center"><p>[<span class="math notranslate nohighlight">\(m/s\)</span>]</p></td>
+</tr>
+</tbody>
+</table>
+</div>
 </section>
 </section>
 
@@ -395,6 +462,8 @@ <h2>Continuous Actions<a class="headerlink" href="#continuous-actions" title="Li
             <ul>
 <li><a class="reference internal" href="#">Actions</a><ul>
 <li><a class="reference internal" href="#continuous-actions">Continuous Actions</a></li>
+<li><a class="reference internal" href="#controlled-actions">Controlled Actions</a></li>
+<li><a class="reference internal" href="#pursuit-actions">Pursuit Actions</a></li>
 </ul>
 </li>
 </ul>
@@ -413,5 +482,7 @@ <h2>Continuous Actions<a class="headerlink" href="#continuous-actions" title="Li
     <script src="../_static/thebelab-helper.js"></script>
     <script src="https://cdnjs.cloudflare.com/ajax/libs/require.js/2.3.4/require.min.js"></script>
     <script src="https://cdn.jsdelivr.net/npm/@jupyter-widgets/html-manager@^1.0.1/dist/embed-amd.js"></script>
+    <script>window.MathJax = {"options": {"processHtmlClass": "tex2jax_process|mathjax_process|math|output_area"}}</script>
+    <script defer="defer" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
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bibliography/index.html

@@ -225,6 +225,8 @@
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 <li class="toctree-l2"><a class="reference internal" href="../observations/">Observations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../observations/#kinematics">Kinematics</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../observations/#dynamics">Dynamics</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../actions/">Actions</a></li>
 <li class="toctree-l2 has-children"><a class="reference internal" href="../dynamics/">Dynamics</a><input class="toctree-checkbox" id="toctree-checkbox-3" name="toctree-checkbox-3" role="switch" type="checkbox"/><label for="toctree-checkbox-3"><div class="visually-hidden">Toggle navigation of Dynamics</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
 <li class="toctree-l3"><a class="reference internal" href="../dynamics/world/terrain/">Terrain</a></li>
@@ -236,7 +238,6 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../rewards/">Rewards</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../graphics/">Graphics</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../make_your_own/">Make your own environment</a></li>
 </ul>
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dynamics/aircraft/controller/index.html

@@ -225,6 +225,8 @@
 </li>
 <li class="toctree-l1 current has-children"><a class="reference internal" href="../../../user_guide/">User Guide</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-2" name="toctree-checkbox-2" role="switch" type="checkbox"/><label for="toctree-checkbox-2"><div class="visually-hidden">Toggle navigation of User Guide</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
 <li class="toctree-l2"><a class="reference internal" href="../../../observations/">Observations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../observations/#kinematics">Kinematics</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../observations/#dynamics">Dynamics</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../../actions/">Actions</a></li>
 <li class="toctree-l2 current has-children"><a class="reference internal" href="../../">Dynamics</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-3" name="toctree-checkbox-3" role="switch" type="checkbox"/><label for="toctree-checkbox-3"><div class="visually-hidden">Toggle navigation of Dynamics</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
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@@ -236,7 +238,6 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../../rewards/">Rewards</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../../graphics/">Graphics</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../../make_your_own/">Make your own environment</a></li>
 </ul>
 </li>
@@ -285,9 +286,9 @@
         <article role="main" id="furo-main-content">
           <section class="tex2jax_ignore mathjax_ignore" id="control">
 <span id="aircraft-controller"></span><h1>Control<a class="headerlink" href="#control" title="Link to this heading">¶</a></h1>
-<!-- All control occurs within the {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle` and is broken 
-down into low-level loop-closure based PID controllers and high-level control. Each allowing for increasing level of 
-abstraction in the action space.  -->
+<p>All control occurs within the <code class="xref py py-class docutils literal notranslate"><span class="pre">ControlledAircraft</span></code> and is broken
+down into low-level loop-closure based PID controllers and high-level control. Each allowing for increasing level of
+abstraction in the action space.  –&gt;</p>
 <section id="low-level-control">
 <h2>Low-level control<a class="headerlink" href="#low-level-control" title="Link to this heading">¶</a></h2>
 <p>Low-level controllers are used to hold and maintain the Kinematic aircraft in a fixed attitude and speed. Each
@@ -305,24 +306,24 @@ <h2>Low-level control<a class="headerlink" href="#low-level-control" title="Link
   ControlSum --&gt; Aircraft: u(t)
   Aircraft --&gt; [*]: y(t)
         </div><p>Controllers include:</p>
-<!-- - Pitch {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.pitch_controller`
-- Roll {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.roll_controller`
-- Speed {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.speed_controller` -->
+<ul class="simple">
+<li><p>Pitch <code class="xref py py-class docutils literal notranslate"><span class="pre">pitch_controller</span></code></p></li>
+<li><p>Roll <code class="xref py py-class docutils literal notranslate"><span class="pre">roll_controller</span></code></p></li>
+<li><p>Speed <code class="xref py py-class docutils literal notranslate"><span class="pre">speed_controller</span></code></p></li>
+</ul>
 </section>
 </section>
 <section class="tex2jax_ignore mathjax_ignore" id="high-level-control">
 <h1>High-level control<a class="headerlink" href="#high-level-control" title="Link to this heading">¶</a></h1>
 <p>High-level controllers are used to control higher order functions allowing offloading the problem of decision-making
 to be a higher-order task. These build on the low level controllers to include:</p>
-<!-- - Altitude {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.alt_controller`
-- Heading {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.heading_controller`
-- Pursuit {py:class}`~flyer_env.aircraft.contoller.ControlledKinematicVehicle.pursuit_controller` -->
+<ul class="simple">
+<li><p>Altitude <code class="xref py py-class docutils literal notranslate"><span class="pre">alt_controller</span></code></p></li>
+<li><p>Heading <code class="xref py py-class docutils literal notranslate"><span class="pre">heading_controller</span></code></p></li>
+<li><p>Pursuit <code class="xref py py-class docutils literal notranslate"><span class="pre">pursuit_controller</span></code></p></li>
+</ul>
 <section id="api">
 <h2>API<a class="headerlink" href="#api" title="Link to this heading">¶</a></h2>
-<!-- ```{eval-rst}
-.. automodule:: flyer_env.aircraft.contoller
-    :members:
-``` -->
 </section>
 </section>
 

dynamics/aircraft/dynamics/index.html

@@ -225,6 +225,8 @@
 </li>
 <li class="toctree-l1 current has-children"><a class="reference internal" href="../../../user_guide/">User Guide</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-2" name="toctree-checkbox-2" role="switch" type="checkbox"/><label for="toctree-checkbox-2"><div class="visually-hidden">Toggle navigation of User Guide</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
 <li class="toctree-l2"><a class="reference internal" href="../../../observations/">Observations</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../observations/#kinematics">Kinematics</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../observations/#dynamics">Dynamics</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../../actions/">Actions</a></li>
 <li class="toctree-l2 current has-children"><a class="reference internal" href="../../">Dynamics</a><input checked="" class="toctree-checkbox" id="toctree-checkbox-3" name="toctree-checkbox-3" role="switch" type="checkbox"/><label for="toctree-checkbox-3"><div class="visually-hidden">Toggle navigation of Dynamics</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul class="current">
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@@ -236,7 +238,6 @@
 </ul>
 </li>
 <li class="toctree-l2"><a class="reference internal" href="../../../rewards/">Rewards</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../../graphics/">Graphics</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../../make_your_own/">Make your own environment</a></li>
 </ul>
 </li>