base

Torch trajectory base classes.

Classes:

Name	Description
BaseTrajectory	Abstract base class for batched torch trajectory implementations.
SpatialTrajectory	Torch base class for trajectories centered around a batched world-frame anchor.

BaseTrajectory dataclass

BaseTrajectory(*, yaw_from_velocity: bool = True, fixed_yaw: Tensor | None = None, attitude: Tensor | None = None, body_rate: Tensor | None = None)

Bases: ABC

Abstract base class for batched torch trajectory implementations.

Methods:

Name	Description
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched 12D target tensor from motion primitives.
sample	Sample a batched 12D target tensor for time values t.

sample_heading

sample_heading(t: Tensor, pos: Tensor, vel: Tensor, acc: Tensor) -> tuple[torch.Tensor, torch.Tensor]

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

build_target

build_target(t: Tensor, pos: Tensor, vel: Tensor, acc: Tensor) -> torch.Tensor

Assemble a batched 12D target tensor from motion primitives.

sample abstractmethod

sample(t: Tensor) -> torch.Tensor

Sample a batched 12D target tensor for time values t.

SpatialTrajectory dataclass

SpatialTrajectory(*, yaw_from_velocity: bool = True, fixed_yaw: Tensor | None = None, attitude: Tensor | None = None, body_rate: Tensor | None = None, center: Tensor)

Bases: BaseTrajectory

Torch base class for trajectories centered around a batched world-frame anchor.

Methods:

Name	Description
__post_init__	Initialize shared tensors from the center batch shape when available.
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched 12D target tensor from motion primitives.
sample	Sample a batched 12D target tensor for time values t.

__post_init__

__post_init__()

Initialize shared tensors from the center batch shape when available.

sample_heading

sample_heading(t: Tensor, pos: Tensor, vel: Tensor, acc: Tensor) -> tuple[torch.Tensor, torch.Tensor]

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

build_target

build_target(t: Tensor, pos: Tensor, vel: Tensor, acc: Tensor) -> torch.Tensor

Assemble a batched 12D target tensor from motion primitives.

sample abstractmethod

sample(t: Tensor) -> torch.Tensor

Sample a batched 12D target tensor for time values t.