Base six dof platform

---

Air Force Research Laboratory (AFRL) Autonomous Capabilities Team (ACT3) Reinforcement Learning (RL) Core.

This is a US Government Work not subject to copyright protection in the US.

The use, dissemination or disclosure of data in this file is subject to limitation or restriction. See accompanying README and LICENSE for details.

---

Abstaction Class for 6DOF platform types that can provide some properties for common usage

Base6DOFPlatform (BasePlatform)

Further abstraction of BasePlatform, this adds some common 6dof properties that may be useful for dealing with simulators using aircraft

Source code in corl/simulators/six_dof/base_six_dof_platform.py

class Base6DOFPlatform(BasePlatform):
    """
    Further abstraction of BasePlatform, this adds some common
    6dof properties that may be useful for dealing with simulators
    using aircraft
    """

    def __init__(self, platform_name, platform, parts_list, exclusive_part_dict=None, disable_exclusivity_check=False):
        if exclusive_part_dict is None:
            exclusive_part_dict = {
                BaseController:
                MutuallyExclusiveParts({"yaw_control", "pitch_control", "roll_control", "speed_control"}, allow_other_keys=True),
                BaseSensor: MutuallyExclusiveParts({}, allow_other_keys=True)
            }

        super().__init__(
            platform_name=platform_name,
            platform=platform,
            parts_list=parts_list,
            exclusive_part_dict=exclusive_part_dict,
            disable_exclusivity_check=disable_exclusivity_check
        )

    @property
    @abc.abstractmethod
    def position(self) -> np.ndarray:
        """
        The position of the object in space. Details on the position format are provided by position_properties

        Returns
        -------
        np.ndarray
            The position of the object in space
        """
        ...

    position_properties = six_dof_props.LatLonAltProp()

    @property
    @abc.abstractmethod
    def orientation(self) -> np.ndarray:
        """
        The orientation of the platform. For orientation formatting see orientation_properties

        Returns
        -------
        np.ndarray
            The orientation of the platform
        """
        ...

    orientation_properties = six_dof_props.OrientationProp()

    @property
    @abc.abstractmethod
    def velocity_ned(self) -> np.ndarray:
        """get the velocity in true airspeed NED (m/s)

        Returns:
            np.ndarray -- The velocity in true airspeed NED (m/s)
        """
        ...

    velocity_ned_properties = six_dof_props.VelocityNEDProp()
    angular_velocity_properties = six_dof_props.VelocityNEDProp(
        description="angular velocity for yaw rate, pitch rate and roll rate respectively"
    )

    @property
    @abc.abstractmethod
    def acceleration_ned(self) -> np.ndarray:
        """gets the acceleration in the NED

        Returns:
            np.ndarray -- The acceleration in the NED
        """
        ...

    acceleration_ned_properties = six_dof_props.AccelerationNEDProp()

    @property
    @abc.abstractmethod
    def speed(self) -> np.ndarray:
        """Get the speed of the platform

        Returns:
            np.ndarray -- The true airspeed of the platform in m/s
        """
        ...

    speed_properties = six_dof_props.TrueAirSpeedProp(name="speed", high=[1700.0], unit=["mpstas"], description="true airspeed in m/s")

    @property
    @abc.abstractmethod
    def controllers(self) -> typing.Tuple[BaseController, ...]:
        """
        The controllers for this platform. This controls properties of the platform itself related to movement.
        For example hold heading, set throttle to X, pitch at this rate, etc.
        """
        ...

    @property
    @abc.abstractmethod
    def sensors(self) -> typing.Tuple[BaseSensor, ...]:
        """
        A list of the sensors for this platform. Sensors could be altitude, airspeed, etc.
        """
        ...

acceleration_ned: ndarray property readonly

gets the acceleration in the NED

Returns:

Type	Description
ndarray	np.ndarray -- The acceleration in the NED

controllers: Tuple[corl.simulators.base_parts.BaseController, ...] property readonly

The controllers for this platform. This controls properties of the platform itself related to movement. For example hold heading, set throttle to X, pitch at this rate, etc.

orientation: ndarray property readonly

The orientation of the platform. For orientation formatting see orientation_properties

Returns

np.ndarray The orientation of the platform

position: ndarray property readonly

The position of the object in space. Details on the position format are provided by position_properties

Returns

np.ndarray The position of the object in space

sensors: Tuple[corl.simulators.base_parts.BaseSensor, ...] property readonly

A list of the sensors for this platform. Sensors could be altitude, airspeed, etc.

speed: ndarray property readonly

Get the speed of the platform

Returns:

Type	Description
ndarray	np.ndarray -- The true airspeed of the platform in m/s

velocity_ned: ndarray property readonly

get the velocity in true airspeed NED (m/s)

Returns:

Type	Description
ndarray	np.ndarray -- The velocity in true airspeed NED (m/s)