hover_step

Torch hover-step trajectory implementation.

Classes:

Name	Description
HoverStepTrajectory	Batched piecewise-constant position and yaw trajectory.

HoverStepTrajectory dataclass

HoverStepTrajectory(*, yaw_from_velocity: bool = False, fixed_yaw: Tensor | None = None, attitude: Tensor | None = None, body_rate: Tensor | None = None, initial: Tensor, steps: tuple[tuple[float, Tensor], ...] = ())

Bases: BaseTrajectory

Batched piecewise-constant position and yaw trajectory.

Methods:

Name	Description
__post_init__	Initialize shared trajectory tensors from the hover-step batch.
sample	Sample the active hover targets for batched time values t.
sample_heading	Sample batched yaw and yaw-rate references for time values t.
build_target	Assemble a batched 12D target tensor from motion primitives.

__post_init__

__post_init__()

Initialize shared trajectory tensors from the hover-step batch.

sample

sample(t: Tensor) -> torch.Tensor

Sample the active hover targets for batched 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.