RLBench/envs/_quadrocopter/quadrotor_dynamics.py
def _compute_drag(self):
        """Compute velocities and applies linear drag model.

        Inverts the current rotation matrix and solves for the components of
        quadrocopter velocities in the body coordinates. Then a simple linear
        drag model equation is applied. This is done because the quadrocopter
        platform areas don't change in this refernce frame. The drag forces are
        returned in global coordinates.
        """
        v_b = np.linalg.solve(self.state.R, self.state.vel)

        drag_model = np.array((self.params.CD_bx,
                               self.params.CD_by,
                               self.params.CD_bz)) * v_b

        return self.state.R.dot(drag_model)
Compute velocities and applies linear drag model.

        Inverts the current rotation matrix and solves for the components of
        quadrocopter velocities in the body coordinates. Then a simple linear
        drag model equation is applied. This is done because the quadrocopter
        platform areas don't change in this refernce frame. The drag forces are
        returned in global coordinates.
        
Compute velocities and applies linear drag model.
Inverts the current rotation matrix and solves for the components of
quadrocopter velocities in the body coordinates. Then a simple linear
drag model equation is applied. This is done because the quadrocopter
platform areas don't change in this refernce frame. The drag forces are
returned in global coordinates.
Compute velocities and applies linear drag model . Inverts the current rotation matrix and solves for the components of quadrocopter velocities in the body coordinates . Then a simple linear drag model equation is applied . This is done because the quadrocopter platform areas don ' t change in this refernce frame . The drag forces are returned in global coordinates .
def _compute_drag(self):
        v_b = np.linalg.solve(self.state.R, self.state.vel)
        drag_model = np.array((self.params.CD_bx,
                               self.params.CD_by,
                               self.params.CD_bz)) * v_b
        return self.state.R.dot(drag_model)
def _compute_drag ( self ) : v_b = np . linalg . solve ( self . state . R , self . state . vel ) drag_model = np . array ( ( self . params . CD_bx , self . params . CD_by , self . params . CD_bz ) ) * v_b return self . state . R . dot ( drag_model )
Compute velocities and applies linear drag model.
Compute velocities and applies linear drag model .
"""Compute velocities and applies linear drag model.

        Inverts the current rotation matrix and solves for the components of
        quadrocopter velocities in the body coordinates. Then a simple linear
        drag model equation is applied. This is done because the quadrocopter
        platform areas don't change in this refernce frame. The drag forces are
        returned in global coordinates.
        """
self