RLBench/envs/_quadrocopter/quadrotor_dynamics.py
def random_disturbance_creator(covariance, mean=None):
    """Add gaussian disturbance forces with a certain covariance function.

    Parameters
    ----------
    covariance: np.array
        A 3x3 array of the covariance matrix
    mean: np.array
        A 1d array of the 3 mean values (defaults to zero-mean)

    Returns
    -------
    disturbance: callable
        A function that can be used as an external force in quadsim
    """
    if mean is None:
        mean = np.zeros((3,))

    def random_force(state):
        """Return wind force.

        Parameters
        ----------
        state: State

        Returns
        -------
        force: np.array
        """
        return np.random.multivariate_normal(mean, covariance)

    return random_force
Add gaussian disturbance forces with a certain covariance function.

    Parameters
    ----------
    covariance: np.array
        A 3x3 array of the covariance matrix
    mean: np.array
        A 1d array of the 3 mean values (defaults to zero-mean)

    Returns
    -------
    disturbance: callable
        A function that can be used as an external force in quadsim
    
Add gaussian disturbance forces with a certain covariance function.
Parameters

np.array
A 3x3 array of the covariance matrix
mean: np.array
A 1d array of the 3 mean values (defaults to zero-mean)

Returns

callable
A function that can be used as an external force in quadsim
Add gaussian disturbance forces with a certain covariance function . Parameters np . array A 3x3 array of the covariance matrix mean : np . array A 1d array of the 3 mean values ( defaults to zero - mean ) Returns callable A function that can be used as an external force in quadsim
def random_disturbance_creator(covariance, mean=None):
    if mean is None:
        mean = np.zeros((3,))
    def random_force(state):
        return np.random.multivariate_normal(mean, covariance)
    return random_force
def random_disturbance_creator ( covariance , mean = None ) : if mean is None : mean = np . zeros ( ( 3 , ) ) def random_force ( state ) : """Return wind force.

        Parameters
        ----------
        state: State

        Returns
        -------
        force: np.array
        """ return np . random . multivariate_normal ( mean , covariance ) return random_force
Add gaussian disturbance forces with a certain covariance function.
Add gaussian disturbance forces with a certain covariance function .
"""Add gaussian disturbance forces with a certain covariance function.

    Parameters
    ----------
    covariance: np.array
        A 3x3 array of the covariance matrix
    mean: np.array
        A 1d array of the 3 mean values (defaults to zero-mean)

    Returns
    -------
    disturbance: callable
        A function that can be used as an external force in quadsim
    """ """Return wind force.

        Parameters
        ----------
        state: State

        Returns
        -------
        force: np.array
        """
covariance
mean