HoldIntervalDriftScenario
Robotics scenarios · Implementation: mlsysim/engine/scenario_definitions/robotics/control.py.
Construct this scenario with keyword inputs. The fields below show the types and defaults declared by this class.
Drift while a drive holds the last command for one period: travel at speed plus the half acceleration period^2 an independent acceleration bound allows.
Notes
Equation: drift is the worked quantity; each property below states its equation and units.
Assumptions: Speed and acceleration provide constant upper-bound terms throughout one held-command interval.
Excludes: Jerk, direction reversal, and a proof that the supplied bounds hold.
References
Derivation: The equations below follow the stated counts, geometric relations, or accounting definitions; scenario inputs are supplied assumptions or observations, not fitted predictions.
Examples
Execute the registered worked inputs; this is a modeled calculation.
>>> from mlsysim import Scenarios
>>> case = Scenarios.WarehouseBaseHoldDrift
>>> value = case.drift
>>> print(f"{value:.3f~P}")
1.501 mmAttributes
| Name | Description |
|---|---|
| acceleration | |
| drift | Millimeters traveled during a hold, constant-speed travel plus bounded-acceleration travel. |
| period | |
| speed |
speed
Type: Quantity.
Declared default: required.
acceleration
Type: Quantity.
Declared default: required.
period
Type: Quantity.
Declared default: required.
drift
engine.scenario_types.HoldIntervalDriftScenario.drift
Millimeters traveled during a hold, constant-speed travel plus bounded-acceleration travel.
Equation: return (self.speed * self.period + 0.5 * self.acceleration * self.period ** 2).to(‘mm’)