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Functions1,441 in github.com/TJU-Aerial-Robotics/YOPO

⨍ Functions 1,441◇ Types & classes 624
↓ 3 callersMethodadjust_size
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4.hpp:288
↓ 3 callersFunctionconv1x1
1x1 convolution
YOPO/policy/models/resnet.py:35
↓ 3 callersFunctionconv3x3
3x3 convolution with padding
YOPO/policy/models/resnet.py:29
↓ 3 callersMethodenergy
Controller/src/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp:83
↓ 3 callersMethoderror_order
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_error_stepper_base.hpp:109
↓ 3 callersMethodfor_each3
Controller/src/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/nested_range_algebra.hpp:36
↓ 3 callersFunctionfrom_vector3_msg
Controller/src/utils/uav_utils/include/uav_utils/converters.h:44
↓ 3 callersMethodgenerate
Simulator/src/src/maps.cpp:771
↓ 3 callersMethodgetAcc
Controller/src/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp:448
↓ 3 callersMethodgetDist2
Simulator/src/src/maps.cpp:827
↓ 3 callersMethodgetRotation
(self, id=None)
YOPO/policy/primitive.py:98
↓ 3 callersMethodget_acceleration
Return the scalar acceleration at time t.
YOPO/policy/poly_solver.py:25
↓ 3 callersMethodget_velocity
Return the scalar velocity at time t.
YOPO/policy/poly_solver.py:29
↓ 3 callersFunctionnormalize_angle
Controller/src/utils/uav_utils/include/uav_utils/geometry_utils.h:177
↓ 3 callersMethodorder
Controller/src/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test/dummy_steppers.hpp:38
↓ 3 callersMethodprepare_input
Transform the observation to the primitive frame (Body frame → Primitive frame → Body frame). obs: [batch; vx, vy, yz, ax, ay
YOPO/policy/state_transform.py:80
↓ 3 callersFunctionquaternion_to_ypr
Controller/src/utils/uav_utils/include/uav_utils/geometry_utils.h:155
↓ 3 callersMethodreduce
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp:252
↓ 3 callersMethodresize
Controller/src/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/my_vector.cpp:62
↓ 3 callersFunctionrotate_body2world
Rotate pos_b from body frame to world frame using quaternion q_wb. rot_wb: (..., 3, 3) pos_b: (..., 3)
YOPO/policy/state_transform.py:120
↓ 3 callersFunctionrotz
Controller/src/utils/uav_utils/include/uav_utils/geometry_utils.h:52
↓ 3 callersMethodsetDist2
Simulator/src/src/maps.cpp:857
↓ 3 callersMethodsetExternalForce
Controller/src/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp:381
↓ 3 callersMethodsetInfo
Simulator/src/src/maps.cpp:731
↓ 3 callersMethodsetInput
Controller/src/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp:208
↓ 3 callersMethodsetParam
Simulator/src/src/maps.cpp:737
↓ 3 callersMethodsetPoint2
Simulator/src/src/maps.cpp:845
↓ 3 callersMethodstep
Controller/src/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp:47
↓ 3 callersFunctionwrap_to_pi
将角度限制在 [-pi, pi]
YOPO/policy/poly_solver.py:61
↓ 2 callersMethodHGDO_ext_force_ob
用这个,放到控制器的定时器和控制器同步,注意有些全局变量在FxTDO 模型预测，这个z2_nhgdo作为北西天系，（用来算姿态的）加速度直接加z2_nhgdo作为实际的加速度 U_input: 上一时刻期望加速度（控制量姿态对应的） vel: 当前时刻的速度 dis: 当前时刻干扰返回值,就是3个方
Controller/src/so3_control/include/so3_control/HGDO.h:55
↓ 2 callersFunctionYopoBackbone
(output_dim)
YOPO/policy/models/backbone.py:32
↓ 2 callersMethod__init__
( self, block: Type[Union[BasicBlock, Bottleneck]], layers: List[int], num_cla
YOPO/policy/models/resnet.py:149
↓ 2 callersMethod_get_random_goal
(self)
YOPO/policy/yopo_dataset.py:126
↓ 2 callersMethod_get_random_state
(self)
YOPO/policy/yopo_dataset.py:109
↓ 2 callersFunctionabs
Simulator/src/include/cuda_toolkit/helper_math.h:1447
↓ 2 callersMethodadjust_size
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_moulton.hpp:155
↓ 2 callersMethodadjust_size
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/rosenbrock4_controller.hpp:151
↓ 2 callersMethodadjust_size
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp:126
↓ 2 callersMethodadjust_size
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp:166
↓ 2 callersMethodadjust_size
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp:160
↓ 2 callersMethodadjust_size
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/base/explicit_stepper_base.hpp:167
↓ 2 callersFunctioncalc_mean_field
Controller/src/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/phase_oscillator_ensemble.cpp:31
↓ 2 callersMethodcalc_state
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp:138
↓ 2 callersMethodcalculateControl
Controller/src/so3_control/src/SO3Control.cpp:37
↓ 2 callersFunctioncenter_of_mass
[ some_helpers
Controller/src/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/solar_system.cpp:88
↓ 2 callersFunctiondo_resize
[ resizing_lattice_resize_function
Controller/src/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/resizing_lattice.cpp:106
↓ 2 callersMethoddo_step
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/adams_bashforth.hpp:127
↓ 2 callersMethoddo_step
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/bulirsch_stoer_dense_out.hpp:300
↓ 2 callersFunctionend_iterator
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/external/gsl/gsl_wrapper.hpp:97
↓ 2 callersMethodenergy
Controller/src/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/2d_lattice/lattice2d.hpp:57
↓ 2 callersMethodfor_each10
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp:140
↓ 2 callersMethodfor_each11
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp:156
↓ 2 callersMethodfor_each12
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp:173
↓ 2 callersMethodfor_each13
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp:191
↓ 2 callersMethodfor_each14
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp:210
↓ 2 callersMethodfor_each15
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp:230
↓ 2 callersMethodfor_each9
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/array_algebra.hpp:125
↓ 2 callersMethodforward_and_compute_loss
(self, depth, pos, rot, obs_b, map_id)
YOPO/policy/yopo_trainer.py:142
↓ 2 callersFunctionfrom_point_msg
Controller/src/utils/uav_utils/include/uav_utils/converters.h:62
↓ 2 callersFunctionfrom_quaternion_msg
Controller/src/utils/uav_utils/include/uav_utils/converters.h:80
↓ 2 callersFunctionfrom_skew_symmetric
Controller/src/utils/uav_utils/include/uav_utils/geometry_utils.h:229
↓ 2 callersMethodgetAngleLattice
(self, id=None)
YOPO/policy/primitive.py:92
↓ 2 callersMethodgetPoint
Simulator/src/src/maps.cpp:803
↓ 2 callersMethodgetPropellerThrustCoefficient
Controller/src/so3_quadrotor_simulator/src/dynamics/Quadrotor.cpp:325
↓ 2 callersMethodget_instance
(self)
YOPO/policy/primitive.py:108
↓ 2 callersFunctionget_skew_symmetric
Controller/src/utils/uav_utils/include/uav_utils/geometry_utils.h:212
↓ 2 callersFunctionget_yaw_from_quaternion
Controller/src/utils/uav_utils/include/uav_utils/geometry_utils.h:167
↓ 2 callersFunctionintegrate_adaptive
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/integrate/detail/integrate_adaptive.hpp:51
↓ 2 callersFunctionmax
Controller/src/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/test_external/gmp/check_gmp.cpp:43
↓ 2 callersMethodnoise
Simulator/src/src/perlinnoise.cpp:62
↓ 2 callersFunctionnormalize
Controller/src/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/gram_schmidt.hpp:24
↓ 2 callersMethodnormalize_obs
(self, vel_acc_goal)
YOPO/policy/state_transform.py:110
↓ 2 callersMethodpred_to_endstate
Transform the predicted state to the body frame (Original prediction → Primitive frame → Body frame). endstate_pred: [batch;
YOPO/policy/state_transform.py:12
↓ 2 callersMethodpred_to_endstate_cpu
Used during test: Numpy version of pred_to_endstate() on CPU (used in test, x10 times faster than torch on CUDA)
YOPO/policy/state_transform.py:53
↓ 2 callersFunctionprepareSavePath
Simulator/src/src/dataset_generator.cpp:19
↓ 2 callersMethodpub_att_thrust_cmd
Controller/src/so3_control/include/so3_control/mavros_interface.h:157
↓ 2 callersFunctionreduce
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/algebra/detail/reduce.hpp:28
↓ 2 callersMethodresize
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/dense_output_runge_kutta.hpp:352
↓ 2 callersMethodresize
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/ublas_wrapper.hpp:105
↓ 2 callersFunctionresnet18
r"""ResNet-18 model from `"Deep Residual Learning for Image Recognition" <https://arxiv.org/pdf/1512.03385.pdf>`_. Args: pretrained (
YOPO/policy/models/resnet.py:270
↓ 2 callersFunctionrotx
Controller/src/utils/uav_utils/include/uav_utils/geometry_utils.h:20
↓ 2 callersFunctionroty
Controller/src/utils/uav_utils/include/uav_utils/geometry_utils.h:36
↓ 2 callersMethodsetDist1
Simulator/src/src/maps.cpp:851
↓ 2 callersMethodsetMass
Controller/src/so3_control/src/SO3Control.cpp:13
↓ 2 callersMethodsetPoint1
Simulator/src/src/maps.cpp:839
↓ 2 callersMethodsetPosition
Controller/src/so3_control/src/SO3Control.cpp:25
↓ 2 callersMethodsetVelocity
Controller/src/so3_control/src/SO3Control.cpp:31
↓ 2 callersMethodset_steps
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/modified_midpoint.hpp:117
↓ 2 callersFunctionset_unit_value
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/util/unit_helper.hpp:97
↓ 2 callersFunctionstate_body2world
(pos_w, rot_wb, pos_b, vel_b, acc_b)
YOPO/policy/state_transform.py:140
↓ 2 callersFunctionyaw_to_quaternion
Controller/src/utils/uav_utils/include/uav_utils/geometry_utils.h:172
↓ 2 callersFunctionypr_to_R
Controller/src/utils/uav_utils/include/uav_utils/geometry_utils.h:68
↓ 2 callersFunctionypr_to_quaternion
Controller/src/utils/uav_utils/include/uav_utils/geometry_utils.h:132
↓ 1 callersFunctionRPY2Quat
Simulator/src/src/dataset_generator.cpp:53
↓ 1 callersMethod__init__
(self)
YOPO/policy/primitive.py:7
↓ 1 callersMethod__init__
(self, output_dim: int)
YOPO/policy/models/backbone.py:9
↓ 1 callersMethod_forward_impl
(self, x: Tensor)
YOPO/policy/models/resnet.py:233
↓ 1 callersFunctionabs
Controller/src/so3_quadrotor_simulator/include/ode/libs/numeric/odeint/examples/quadmath/black_hole.cpp:36
↓ 1 callersMethodadjust_size
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/explicit_generic_rk.hpp:153
↓ 1 callersMethodadjust_size
Controller/src/so3_quadrotor_simulator/include/ode/boost/numeric/odeint/stepper/implicit_euler.hpp:122
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