igibson.controllers package
Submodules
igibson.controllers.controller_base module
igibson.controllers.dd_controller module
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class
igibson.controllers.dd_controller.DifferentialDriveController(wheel_radius, wheel_axle_length, control_freq, control_limits, joint_idx, command_input_limits='default', command_output_limits='default') Bases:
igibson.controllers.controller_base.LocomotionControllerDifferential drive (DD) controller for controlling two independently controlled wheeled joints.
- Each controller step consists of the following:
Clip + Scale inputted command according to @command_input_limits and @command_output_limits
Convert desired (lin_vel, ang_vel) command into (left, right) wheel joint velocity control signals
Clips the resulting command by the joint velocity limits
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property
command_dim - Return int
Expected size of inputted commands
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property
control_type - Return ControlType
Type of control returned by this controller
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reset() Resets this controller. Should be implemented by subclass.