SystemModel

class do_dpc.environments.legacy_coco_rocket.system_model.SystemModel(env)

Bases: object

Class which wraps a RocketLander environment and calculates the system model

Methods

calculate_linear_system_matrices

do_dpc.environments.legacy_coco_rocket.system_model.SystemModel.calculate_linear_system_matrices(self, x_eq=None, u_eq=None)

Calculate the linearized system matrices

If x_eq and u_eq are not provided, we default to:

• x_eq = [0, 0, 0, 0, 0, 0] (x = [x, y, x’, y’, theta, theta’])

• u_eq = [mass*gravity, 0, 0] (u = [Fe, Fs, phi])

Parameters:

• x_eq (np.ndarray, optional) – state equilibrium point. Defaults to None.

• u_eq (np.ndarray, optional) – action equilibrium point. Defaults to None.

Return type:

None

discretize_system_matrices

do_dpc.environments.legacy_coco_rocket.system_model.SystemModel.discretize_system_matrices(self, sample_time)

Exact discretization of the linearized system matrices using the matrix exponential

Parameters:

sample_time (float) – discrete sampling time in seconds

Raises:

AttributeError – if calculate_linear_system_matrices has not been called first

Return type:

None

get_continuous_linear_system_matrices

do_dpc.environments.legacy_coco_rocket.system_model.SystemModel.get_continuous_linear_system_matrices(self)

Return the continuous-time linearized system matrices

Raises:

AttributeError – if calculate_linear_system_matrices has not been called first

Returns:

A, B

Return type:

Tuple[np.ndarray, np.ndarray]

get_discrete_linear_system_matrices

do_dpc.environments.legacy_coco_rocket.system_model.SystemModel.get_discrete_linear_system_matrices(self)

Return the discrete-time linearized system matrices

Raises:

AttributeError – if discretize_system_matrices has not been called first

Returns:

A, B

Return type:

Tuple[np.ndarray, np.ndarray]