suboptimumg.models

class suboptimumg.models.SimulationState

Bases: BaseModel

Vehicle state used in our simulation.

Fields

Field	Type	Required	Default
acc	float	Yes
dt	float	Yes
motor_torque	float	No	0.0
p	float	Yes
pitch	float	No	0.0
roll	float	No	0.0
sliding	bool	Yes
v	float	Yes

Parameters:

• sliding (bool)

• acc (float)

• v (float)

• dt (float)

• p (float)

• motor_torque (float)

• roll (float)

• pitch (float)

acc: float

copy(*args, **kwargs)

Raise an error, since copying is disabled to ensure immutability.

Parameters:

• args (object)

• kwargs (object)

Return type:

SimulationState

dt: float

model_copy(*args, **kwargs)

Raise an error, since copying is disabled to ensure immutability.

Parameters:

• args (object)

• kwargs (object)

Return type:

SimulationState

motor_torque: float

p: float

pitch: float

roll: float

sliding: bool

v: float

class suboptimumg.models.TireForce

Bases: BaseModel

Forces acting on a single tire at a single instant.

Fields

Field	Type	Required	Default
lateral	float	Yes
normal	float	Yes

Parameters:

• normal (float)

• lateral (float)

lateral: float

normal: float

class suboptimumg.models.TireForces

Bases: BaseModel

Forces acting on the four tires at a single instant.

Fields

Field	Type	Required	Default
back_left	TireForce	Yes
back_right	TireForce	Yes
front_left	TireForce	Yes
front_right	TireForce	Yes

Parameters:

• front_left (TireForce)

• front_right (TireForce)

• back_left (TireForce)

• back_right (TireForce)

back_left: TireForce

back_right: TireForce

front_left: TireForce

front_right: TireForce

property total_normal: float

Sum of the normal forces on all four tires (N).