lemniscate

NumPy lemniscate trajectory implementation.

类：

名称	描述
LemniscateTrajectory	Bernoulli lemniscate trajectory with optional vertical oscillation.

LemniscateTrajectory dataclass

LemniscateTrajectory(yaw_from_velocity: bool = True, fixed_yaw: float = 0.0, attitude: tuple[float, float] = (0.0, 0.0), body_rate: tuple[float, float] = (0.0, 0.0), center: tuple[float, float, float] = (0.0, 0.0, 1.0), scale: float = 1.0, omega: float = 0.5, z_amplitude: float = 0.0, z_frequency: float = 1.0, z_phase: float = 0.0)

Bases: SpatialTrajectory

Bernoulli lemniscate trajectory with optional vertical oscillation.

方法：

名称	描述
sample	Sample the lemniscate trajectory at time t.
sample_heading	Sample yaw and yaw-rate references for time t and translation state.
build_target	Assemble a full 12D target from position, velocity, and acceleration.
sample_batch	Sample a batch of timestamps and stack the resulting 12D targets.
__post_init__	Cache the trajectory center as a float32 NumPy vector.

sample

sample(t: float) -> np.ndarray

Sample the lemniscate trajectory at time t.

sample_heading

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

Sample yaw and yaw-rate references for time t and translation state.

build_target

build_target(t: float, pos: ndarray, vel: ndarray, acc: ndarray) -> np.ndarray

Assemble a full 12D target from position, velocity, and acceleration.

sample_batch

sample_batch(ts: ndarray) -> np.ndarray

Sample a batch of timestamps and stack the resulting 12D targets.

__post_init__

__post_init__()

Cache the trajectory center as a float32 NumPy vector.