double_pendulum.controller.random_exploration

Submodules

double_pendulum.controller.random_exploration.random_exploration_controller

class double_pendulum.controller.random_exploration.random_exploration_controller.Controller_Random_exploration(ctrl_rate, filt_freq, seed, type_random='WGN', random_par=None, expl_time=10.0, system_freq=500, u_max=6, num_dof=2, controlled_dof=None, plot_profile=True, wait_steps=0)

Bases: AbstractController

get_control_output_(x, t)

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]

init_profile(plot_profile=True)