RocketEnvCfgFacade

RocketEnvCfgFacade#

class do_dpc.environments.rocket_env.rocket_env_cfg_facade.RocketEnvCfgFacade[source]#

Bases: object

Facade providing structured access to EnvConfig attributes without instantiation.

This class exposes various environment parameters related to state limits, actuator limits, and transformations to normalized or virtual actuators.

Note

The state variables are ordered as follows: - X position (m) - Y position (m) - X velocity (m/s) - Y velocity (m/s) - Theta (radians) - Theta velocity (rad/s)

Methods#

max_actuator_values#

do_dpc.environments.rocket_env.rocket_env_cfg_facade.RocketEnvCfgFacade.max_actuator_values()#

Returns the maximum possible actuator values.

The actuators correspond to: - Main engine thrust (N) - Side engine thrust (N) - Nozzle angle (radians)

Returns:

Array containing the maximum values for each actuator.

Return type:

np.ndarray

max_actuator_values_normalized#

do_dpc.environments.rocket_env.rocket_env_cfg_facade.RocketEnvCfgFacade.max_actuator_values_normalized()#

Returns the maximum normalized actuator values.

The normalized actuator values scale between -1 and 1, where: - 1 represents maximum thrust or angle. - 0 represents zero thrust or neutral angle.

Returns:

Array containing normalized maximum actuator values.

Return type:

np.ndarray

max_nozzle_angle#

do_dpc.environments.rocket_env.rocket_env_cfg_facade.RocketEnvCfgFacade.max_nozzle_angle()#

Returns the maximum allowable nozzle angle.

Returns:

Maximum nozzle angle in radians.

Return type:

float

max_state_values#

do_dpc.environments.rocket_env.rocket_env_cfg_facade.RocketEnvCfgFacade.max_state_values()#

Returns the maximum permissible values for the state variables.

Returns:

Array containing the maximum values for each state variable.

Return type:

np.ndarray

Note

  • Theta is represented in radians.

  • Some values are set to np.inf as they are unbounded.

max_virtual_actuator_values#

do_dpc.environments.rocket_env.rocket_env_cfg_facade.RocketEnvCfgFacade.max_virtual_actuator_values()#

Returns the maximum values for virtual actuators.

Virtual actuators are an alternative representation of the real actuators.

Returns:

Array containing the maximum values for virtual actuators.

Return type:

np.ndarray

min_actuator_values#

do_dpc.environments.rocket_env.rocket_env_cfg_facade.RocketEnvCfgFacade.min_actuator_values()#

Returns the minimum possible actuator values.

Returns:

Array containing the minimum values for each actuator.

Return type:

np.ndarray

min_actuator_values_normalized#

do_dpc.environments.rocket_env.rocket_env_cfg_facade.RocketEnvCfgFacade.min_actuator_values_normalized()#

Returns the minimum normalized actuator values.

The normalized actuator values scale between -1 and 1, where: - 1 represents maximum thrust or angle. - 0 represents zero thrust or neutral angle.

Returns:

Array containing normalized minimum actuator values.

Return type:

np.ndarray

min_state_values#

do_dpc.environments.rocket_env.rocket_env_cfg_facade.RocketEnvCfgFacade.min_state_values()#

Returns the minimum permissible values for the state variables.

Returns:

Array containing the minimum values for each state variable.

Return type:

np.ndarray

Note

  • Theta is represented in radians.

  • Some values are set to -np.inf as they are unbounded.

min_virtual_actuator_values#

do_dpc.environments.rocket_env.rocket_env_cfg_facade.RocketEnvCfgFacade.min_virtual_actuator_values()#

Returns the minimum values for virtual actuators.

Returns:

Array containing the minimum values for virtual actuators.

Return type:

np.ndarray

normalized_thrust_to_hover#

do_dpc.environments.rocket_env.rocket_env_cfg_facade.RocketEnvCfgFacade.normalized_thrust_to_hover()#

Returns the normalized thrust required to counteract gravity and maintain hover.

Note

Assumes the rocket is upright with a neutral nozzle angle.

Returns:

Normalized thrust value needed for hovering.

Return type:

float

Contents