convert_virtual_u_to_rocket_u

convert_virtual_u_to_rocket_u#

Class method.

do_dpc.environments.rocket_env.rocket_utils.convert_virtual_u_to_rocket_u(u_virtual)[source]#

Converts virtual control inputs into rocket control inputs.

The transformation follows:

Fe = sqrt(Fx^2 + Fy^2) phi = arctan(Fy/Fx)

Parameters:

u_virtual (np.ndarray) – Virtual actuator inputs, a 3-element array [Fx, Fy, Fs].

Returns:

Rocket control inputs, a 3-element array [Fe, Fs, phi_normalized], where:

  • Fe is the magnitude of the thrust vector.

  • Fs is the side thrust value.

  • phi_normalized is the normalized nozzle angle.

Return type:

np.ndarray

Note

  • If Fx is too small (near zero), phi is safely calculated using arctan2.

  • phi is normalized using the maximum nozzle angle from RocketEnvCfgFacade.

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