Physics#

rc.physics

BWSI Autonomous RACECAR Course Racecar Neo LTS

File Name: physics.py File Description: Defines the interface of the Physics module of the racecar_core library

class physics.Physics#

Returns the linear acceleration and angular velocity measured by the IMU.

abstract get_angular_velocity() → NDArray[3, Float]#

Returns a 3D vector containing the car’s angular velocity.

Returns:: The average angular velocity of the car along the (x, y, z) axes during the last frame in rad/s.

Note

The x-axis (pitch) points out of the right of the car. The y-axis (yaw) points directly up (perpendicular to the ground). The z-axis (roll) points out of the front of the car. Rotation sign uses the right hand rule. For example, when the car turns to the left, it has a positive angular velocity along the y axis.

Example:

# ang_vel stores the average angular velocity over the previous frame
ang_vel = rc.physics.get_angular_velocity()

# yaw stores the yaw of the car, which is positive when it turns to the left
# and negative when it turns to the right.
yaw = ang_vel[1]

abstract get_linear_acceleration() → NDArray[3, Float]#

Returns a 3D vector containing the car’s linear acceleration.

Returns:: The average linear acceleration of the car along the (x, y, z) axes during the last frame in m/s^2.

Note

The x-axis points out of the right of the car. The y-axis points directly up (perpendicular to the ground). The z-axis points out of the front of the car.

Example:

# accel stores the average acceleration over the previous frame
accel = rc.physics.get_linear_acceleration()

# forward accel stores acceleration in the forward direction.  This will be
# positive when the car accelerates, and negative when it decelerates.
forward_accel = accel[2]