BSK_mujocoMasters

class BSK_mujocoMasters.BSKSim(fswRate=0.01, dynRate=0.01)[source]

Bases: SimBaseClass

Main bskSim simulation class

property DynModels

Return the configured dynamics model.

Raises:

RuntimeError – If a dynamics model has not been added.

property FSWModels

Return the configured flight software model.

Raises:

RuntimeError – If a flight software model has not been added.

get_DynModel()[source]

Return the configured dynamics model.

Raises:

RuntimeError – If a dynamics model has not been added.

get_FswModel()[source]

Return the configured flight software model.

Raises:

RuntimeError – If a flight software model has not been added.

set_DynModel(dynModel, config=None)[source]

Construct and store the dynamics model.

Parameters:

  • dynModel – Module containing the BSKMujocoDynamicsModels class.

  • config – Configuration passed to the dynamics model. Concrete MuJoCo models require it; None supports lightweight model-access tests.

Raises:

RuntimeError – If dynamics setup has already been attempted.

set_FswModel(fswModel, config=None)[source]

Construct and store the flight software model.

Parameters:

  • fswModel – Module containing the BSKMujocoFSWModels class.

  • config – Configuration passed to the FSW model. Concrete MuJoCo models require it; None supports lightweight model-access tests.

Raises:

RuntimeError – If dynamics has not been added or FSW setup has already been attempted.