double_pendulum.controller.SAC

Submodules

double_pendulum.controller.SAC.SAC_controller

class double_pendulum.controller.SAC.SAC_controller.SACController(model_path, dynamics_func, dt, scaling=True)

Bases: AbstractController

get_control_output_(x, t=None)

The function to compute the control input for the double pendulum’s actuator(s). Supposed to be overwritten by actual controllers. The API of this method should not be changed. Unused inputs/outputs can be set to None.

Parameters:

xarray_like, shape=(4,), dtype=float,

state of the double pendulum, order=[angle1, angle2, velocity1, velocity2], units=[rad, rad, rad/s, rad/s]

tfloat, optional

time, unit=[s] (Default value=None)

Returns:

array_like

shape=(2,), dtype=float actuation input/motor torque, order=[u1, u2], units=[Nm]