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base

Array API trajectory base classes.

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.

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
__post_init__

Initialize the trajectory center as a batched backend array.
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 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.