lemniscate

Array API lemniscate trajectory.

类：

名称	描述
LemniscateTrajectory	Batched Bernoulli lemniscate trajectory.

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.

方法：

名称	描述
__post_init__	Initialize LemniscateTrajectory.
sample	Sample the lemniscate at time t.
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__

__post_init__()

Initialize LemniscateTrajectory.

sample

sample(t: ArrayLike) -> ControllerTarget

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.