From 8dc74146007ceefdd81e66d57a5bd7224f076114 Mon Sep 17 00:00:00 2001 From: AOS55 Date: Tue, 28 May 2024 15:06:41 +0000 Subject: [PATCH] =?UTF-8?q?Deploying=20to=20gh-pages=20from=20@=20AOS55/Fl?= =?UTF-8?q?yerEnv@0c5c09023ba0569485e80de1eed1ff4e6042df62=20=F0=9F=9A=80?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- 404.html | 3 +- actions/index.html | 135 ++++++++++++++----- bibliography/index.html | 3 +- dynamics/aircraft/controller/index.html | 29 +++-- dynamics/aircraft/dynamics/index.html | 3 +- dynamics/aircraft/kinematics/index.html | 3 +- dynamics/index.html | 9 +- dynamics/world/terrain/index.html | 3 +- dynamics/world/world/index.html | 3 +- environments/flyer/index.html | 3 +- environments/forced_landing/index.html | 3 +- environments/index.html | 3 +- environments/runway/index.html | 3 +- environments/trajectory/index.html | 3 +- faq/index.html | 3 +- genindex/index.html | 3 +- graphics/index.html | 95 ++++++-------- index.html | 3 +- installation/index.html | 3 +- make_your_own/index.html | 7 +- objects.inv | Bin 1460 -> 1475 bytes observations/index.html | 165 +++++++++++++++++++----- quickstart/index.html | 5 +- rewards/index.html | 11 +- search/index.html | 3 +- searchindex.js | 2 +- user_guide/index.html | 15 ++- 27 files changed, 348 insertions(+), 173 deletions(-) diff --git a/404.html b/404.html index 05f8e6b..bf40ddf 100644 --- a/404.html +++ b/404.html @@ -225,6 +225,8 @@
  • User Guide
    • diff --git a/actions/index.html b/actions/index.html index 25955ef..c35572d 100644 --- a/actions/index.html +++ b/actions/index.html @@ -225,6 +225,8 @@
  • User Guide
    • @@ -304,37 +305,103 @@

    Actions

    Continuous Actions

    - +

    The ContinuousAction type allows for direct control of the agents controls +either with a FlyingVehicle or AircraftVehicle. 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 ControlledAction type is a higher order action type to control the +aircraft’s heading, altitude, and speed with a FlyingVehicle. 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 PursuitAction type is a higher order action type used to navigate a +FlyingVehicle 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]

    [\(m/s\)]

    +
    @@ -395,6 +462,8 @@

    Continuous ActionsActions @@ -413,5 +482,7 @@

    Continuous Actions + + \ No newline at end of file diff --git a/bibliography/index.html b/bibliography/index.html index 47b8cce..d0d4f4e 100644 --- a/bibliography/index.html +++ b/bibliography/index.html @@ -225,6 +225,8 @@
  • User Guide
    • diff --git a/dynamics/aircraft/controller/index.html b/dynamics/aircraft/controller/index.html index af11a13..b38d281 100644 --- a/dynamics/aircraft/controller/index.html +++ b/dynamics/aircraft/controller/index.html @@ -225,6 +225,8 @@
  • User Guide
    • @@ -285,9 +286,9 @@

    Control

    - +

    All control occurs within the ControlledAircraft 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. –>

    Low-level control

    Low-level controllers are used to hold and maintain the Kinematic aircraft in a fixed attitude and speed. Each @@ -305,24 +306,24 @@

    Low-level control +

  • Pitch pitch_controller

    • +

  • Roll roll_controller

    • +

  • Speed speed_controller

    • +

    High-level control

    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:

    - +
      +

    • Altitude alt_controller

      • +

    • Heading heading_controller

      • +

    • Pursuit pursuit_controller

      • +

    API

    -
    diff --git a/dynamics/aircraft/dynamics/index.html b/dynamics/aircraft/dynamics/index.html index 433edee..28742dd 100644 --- a/dynamics/aircraft/dynamics/index.html +++ b/dynamics/aircraft/dynamics/index.html @@ -225,6 +225,8 @@
  • User Guide
    • diff --git a/dynamics/aircraft/kinematics/index.html b/dynamics/aircraft/kinematics/index.html index 9e7b6d1..89f9978 100644 --- a/dynamics/aircraft/kinematics/index.html +++ b/dynamics/aircraft/kinematics/index.html @@ -225,6 +225,8 @@
  • User Guide
    • diff --git a/dynamics/index.html b/dynamics/index.html index 2f9bad9..040dce8 100644 --- a/dynamics/index.html +++ b/dynamics/index.html @@ -225,6 +225,8 @@
  • User Guide
    • @@ -294,10 +295,8 @@

    World

    - +

    A World is composed of a TerrainMap and a +list of DynamicObject which are usually either FlyingVehicle or AircraftVehicle.

    -
    +
    +

    Kinematics

    +

    The KinematicObservation is a \(V \times F\) array containing a list of +\(V\) nearby vehicles by a set of features of size \(F\), listed in the "features" configuration field. For example:

    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    Name

    Param

    Description

    Unit

    x

    \(x\)

    Aircraft’s position in the \(x\)-axis

    [\(m\)]

    y

    \(y\)

    Aircraft’s position in the \(y\)-axis

    [\(m\)]

    z

    \(z\)

    Aircraft’s position in the \(z\)-axis

    [\(m\)]

    heading

    \(\psi\)

    Aircraft’s heading angle

    [\(rad\)]

    pitch

    \(\theta\)

    Aircraft’s pitch angle

    [\(rad\)]

    bank

    \(\phi\)

    Aircraft’s bank angle

    [\(rad\)]

    speed

    \(V_{\infty}\)

    Aircraft’s airspeed

    [\(m/s\)]

    +
    +
    +
    +

    Dynamics

    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    Name

    Param

    Description

    Unit

    x

    \(x\)

    Aircraft’s position in the \(x\)-axis

    [\(m\)]

    y

    \(y\)

    Aircraft’s position in the \(y\)-axis

    [\(m\)]

    z

    \(z\)

    Aircraft’s position in the \(z\)-axis

    [\(m\)]

    pitch

    \(\theta\)

    Aircraft’s pitch angle

    [\(rad\)]

    roll

    \(\phi\)

    Aircraft’s roll angle

    [\(rad\)]

    yaw

    \(\psi\)

    Aircraft’s yaw angle

    [\(rad\)]

    u

    \(u\)

    Aircraft’s linear velocity in the \(x\)-axis

    [\(m/s\)]

    v

    \(v\)

    Aircraft’s linear velocity in the \(y\)-axis

    [\(m/s\)]

    w

    \(w\)

    Aircraft’s linear velocity in the \(z\)-axis

    [\(m/s\)]

    p

    \(p\)

    Aircraft’s rotational velocity in the \(x\)-axis

    [\(rad/s\)]

    q

    \(q\)

    Aircraft’s rotational velocity in the \(y\)-axis

    [\(rad/s\)]

    r

    \(r\)

    Aircraft’s rotational velocity in the \(z\)-axis

    [\(rad/s\)]

    +
    @@ -388,5 +487,7 @@

    Observations + + \ No newline at end of file diff --git a/quickstart/index.html b/quickstart/index.html index 8410897..55d1f2a 100644 --- a/quickstart/index.html +++ b/quickstart/index.html @@ -225,6 +225,8 @@
  • User Guide
    • @@ -320,7 +321,7 @@

    All the environments

    Configuring an environment

    -

    The observations, actions, dynamics and rewards of an environment are parametrized by the configuration config dictionary. After environment creation, the configuration can be accessed using the {py:attr} +

    The observations, actions, dynamics and rewards of an environment are parametrized by the configuration config dictionary. After environment creation, the configuration can be accessed using the {py:attr} ~flyer_env.envs.common.abstract.AbstractEnv.config attribute.

    @@ -225,6 +225,8 @@
  • User Guide
    • @@ -285,8 +286,8 @@

    Rewards

    - -

    overloaded in every environment.

    +

    The reward function is defined in the _reward() method, +over-loaded in every environment.

    Note

    The choice of reward function can be difficult in the more complex flyer_envs.

    @@ -303,7 +304,7 @@
    Next
    -
    Graphics
    +
    <no title>
    diff --git a/search/index.html b/search/index.html index b218190..c973125 100644 --- a/search/index.html +++ b/search/index.html @@ -225,6 +225,8 @@
  • User Guide
    • diff --git a/searchindex.js b/searchindex.js index d5d6b59..3a50bdf 100644 --- a/searchindex.js +++ b/searchindex.js @@ -1 +1 @@ -Search.setIndex({"alltitles": {"404": [[0, "id1"]], "API": [[3, "api"], [9, "api"], [10, "api"], [12, "api"], [13, "api"], [15, "api"], [18, "api"]], "Actions": [[1, "actions"]], "Aircraft": [[6, "aircraft"]], "All the environments": [[20, "all-the-environments"]], "Bibliography": [[2, "bibliography"]], "Configuring an environment": [[20, "configuring-an-environment"]], "Continuous Actions": [[1, "continuous-actions"]], "Control": [[3, "control"]], "Create the aircraft": [[18, "create-the-aircraft"]], "Create the world": [[18, "create-the-world"]], "Default Configuration": [[9, "default-configuration"], [10, "default-configuration"], [12, "default-configuration"], [13, "default-configuration"]], "Development version": [[17, "development-version"]], "Dynamics": [[4, "dynamics"], [6, "dynamics"]], "Flyer": [[9, "flyer"]], "Forced Landing": [[10, 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  • User Guide
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