trajectories

Trajectory implementations package for LAV2.

Modules:

Name	Description
base	Array API trajectory base classes.
helix	Array API helix trajectory.
hover_step	Array API hover-step trajectory.
lemniscate	Array API lemniscate trajectory.
lissajous	Array API Lissajous trajectory.
numpy	Numpy-based trajectory implementations.
rectangle	Array API rectangle trajectory.
torch	Torch-based trajectory implementations.

Classes:

Name	Description
BaseTrajectory	Abstract base class for time-parameterized Array API reference trajectories.
SpatialTrajectory	Base class for trajectories centered around a world-frame anchor point.
HelixTrajectory	Batched helix trajectory.
HoverStepTrajectory	Batched piecewise-constant position and yaw trajectory.
LemniscateTrajectory	Batched Bernoulli lemniscate trajectory.
LissajousTrajectory	Batched three-dimensional Lissajous trajectory.
RectangleTrajectory	Batched constant-speed rectangle trajectory in the horizontal plane.

BaseTrajectory dataclass

BaseTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = True, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0))

Bases: ABC

Abstract base class for time-parameterized Array API reference trajectories.

Methods:

Name	Description
__post_init__	Initialize shared batched trajectory state.
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.
sample	Sample the full target dict at time values t.

__post_init__

__post_init__()

Initialize shared batched trajectory state.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.

sample abstractmethod

sample(t: ArrayLike) -> ControllerTarget

Sample the full target dict at time values t.

SpatialTrajectory dataclass

SpatialTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = True, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0), center: ArrayLike | tuple[float, float, float] = (0.0, 0.0, 1.0))

Bases: BaseTrajectory

Base class for trajectories centered around a world-frame anchor point.

Methods:

Name	Description
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.
sample	Sample the full target dict at time values t.
__post_init__	Initialize the trajectory center as a batched backend array.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.

sample abstractmethod

sample(t: ArrayLike) -> ControllerTarget

Sample the full target dict at time values t.

__post_init__

__post_init__()

Initialize the trajectory center as a batched backend array.

HelixTrajectory dataclass

HelixTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = True, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0), center: ArrayLike | tuple[float, float, float] = (0.0, 0.0, 1.0), radius: ArrayLike | float = 1.0, omega: ArrayLike | float = 0.5, z_amplitude: ArrayLike | float = 0.0, z_frequency: ArrayLike | float = 1.0, z_phase: ArrayLike | float = 0.0)

Bases: SpatialTrajectory

Batched helix trajectory.

Methods:

Name	Description
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.
__post_init__	Initialize HelixTrajectory.
sample	Sample the helix at time t.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.

__post_init__

__post_init__()

Initialize HelixTrajectory.

sample

sample(t: ArrayLike) -> ControllerTarget

Sample the helix at time t.

HoverStepTrajectory dataclass

HoverStepTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = False, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0), initial: ArrayLike | tuple[float, float, float, float] = (0.0, 0.0, 1.0, 0.0), steps: tuple = ((5.0, (1.0, 0.0, 1.0, 0.0)), (10.0, (1.0, 1.0, 1.5, math.pi / 2.0)), (15.0, (0.0, 1.0, 1.5, math.pi))))

Bases: BaseTrajectory

Batched piecewise-constant position and yaw trajectory.

Methods:

Name	Description
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.
__post_init__	Initialize HoverStepTrajectory.
sample	Sample the hover-step trajectory at time t.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.

__post_init__

__post_init__()

Initialize HoverStepTrajectory.

sample

sample(t: ArrayLike) -> ControllerTarget

Sample the hover-step trajectory at time t.

LemniscateTrajectory dataclass

LemniscateTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = True, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0), center: ArrayLike | tuple[float, float, float] = (0.0, 0.0, 1.0), scale: ArrayLike | float = 1.0, omega: ArrayLike | float = 0.5, z_amplitude: ArrayLike | float = 0.0, z_frequency: ArrayLike | float = 1.0, z_phase: ArrayLike | float = 0.0)

Bases: SpatialTrajectory

Batched Bernoulli lemniscate trajectory.

Methods:

Name	Description
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.
__post_init__	Initialize LemniscateTrajectory.
sample	Sample the lemniscate at time t.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.

__post_init__

__post_init__()

Initialize LemniscateTrajectory.

sample

sample(t: ArrayLike) -> ControllerTarget

Sample the lemniscate at time t.

LissajousTrajectory dataclass

LissajousTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = True, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0), center: ArrayLike | tuple[float, float, float] = (0.0, 0.0, 1.0), amplitude: ArrayLike | tuple[float, float, float] = (1.0, 1.0, 0.2), frequency: ArrayLike | tuple[float, float, float] = (1.0, 2.0, 0.5), phase: ArrayLike | tuple[float, float, float] = (0.0, 0.0, 0.0), omega: ArrayLike | float = 0.5)

Bases: SpatialTrajectory

Batched three-dimensional Lissajous trajectory.

Methods:

Name	Description
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.
__post_init__	Initialize LissajousTrajectory.
sample	Sample the Lissajous trajectory at time t.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.

__post_init__

__post_init__()

Initialize LissajousTrajectory.

sample

sample(t: ArrayLike) -> ControllerTarget

Sample the Lissajous trajectory at time t.

RectangleTrajectory dataclass

RectangleTrajectory(*, num_envs: int = 1, device: str | None = None, backend: BackendName | None = None, xp: ModuleType | None = None, initialize: bool = True, yaw_from_velocity: bool = True, fixed_yaw: ArrayLike | float = 0.0, attitude: ArrayLike | tuple[float, float] = (0.0, 0.0), body_rate: ArrayLike | tuple[float, float] = (0.0, 0.0), center: ArrayLike | tuple[float, float, float] = (0.0, 0.0, 1.0), size: ArrayLike | tuple[float, float] = (2.0, 1.0), speed: ArrayLike | float = 0.5)

Bases: SpatialTrajectory

Batched constant-speed rectangle trajectory in the horizontal plane.

Methods:

Name	Description
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched dict target from motion primitives.
__post_init__	Initialize RectangleTrajectory.
sample	Sample the rectangle trajectory at time t.

sample_heading

sample_heading(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> tuple[ArrayLike, ArrayLike]

Sample batched yaw and yaw-rate references for time values t.

build_target

build_target(t: ArrayLike, pos: ArrayLike, vel: ArrayLike, acc: ArrayLike) -> ControllerTarget

Assemble a batched dict target from motion primitives.

__post_init__

__post_init__()

Initialize RectangleTrajectory.

sample

sample(t: ArrayLike) -> ControllerTarget

Sample the rectangle trajectory at time t.