Function car_dynamics

mbd/envs/car2d.py:10–19

(x, u)

def car_dynamics(x, u):
    # x = x.at[3].set(jnp.clip(x[3], -2.0, 2.0))
    return jnp.array(
        [
            u[1] * jnp.sin(x[2])*3.0,  # x_dot
            u[1] * jnp.cos(x[2])*3.0,  # y_dot
            u[0] * jnp.pi / 3 * 2.0,  # theta_dot
            # u[1] * 6.0,  # v_dot
        ]
    )


def rk4(dynamics, x, u, dt):