Torch trajectory implementations for batched RL environments.
模块：
| 名称 | 描述 |
|---|---|
base |
Torch trajectory base classes. |
helix |
Torch helix trajectory implementation. |
hover_step |
Torch hover-step trajectory implementation. |
lemniscate |
Torch lemniscate trajectory implementation. |
lissajous |
Torch Lissajous trajectory implementation. |
rectangle |
Torch rectangle trajectory implementation. |
类：
| 名称 | 描述 |
|---|---|
BaseTrajectory |
Abstract base class for batched torch trajectory implementations. |
SpatialTrajectory |
Torch base class for trajectories centered around a batched world-frame anchor. |
HelixTrajectory |
Batched helix trajectory with optional vertical oscillation. |
HoverStepTrajectory |
Batched piecewise-constant position and yaw trajectory. |
LemniscateTrajectory |
Batched Bernoulli lemniscate trajectory with vertical oscillation. |
LissajousTrajectory |
Batched three-dimensional Lissajous trajectory. |
RectangleTrajectory |
Batched constant-speed rectangle trajectory in the horizontal plane. |
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.
方法：
| 名称 | 描述 |
|---|---|
sample_heading |
Sample batched yaw and yaw-rate references for time values |
build_target |
Assemble a batched 12D target tensor from motion primitives. |
sample |
Sample a batched 12D target tensor for time values |
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(t: Tensor, pos: Tensor, vel: Tensor, acc: Tensor) -> torch.Tensor
Assemble a batched 12D target tensor from motion primitives.
abstractmethod
sample(t: Tensor) -> torch.Tensor
Sample a batched 12D target tensor for time values t.
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.
方法：
| 名称 | 描述 |
|---|---|
sample_heading |
Sample batched yaw and yaw-rate references for time values |
build_target |
Assemble a batched 12D target tensor from motion primitives. |
sample |
Sample a batched 12D target tensor for time values |
__post_init__ |
Initialize shared tensors from the center batch shape when available. |
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(t: Tensor, pos: Tensor, vel: Tensor, acc: Tensor) -> torch.Tensor
Assemble a batched 12D target tensor from motion primitives.
abstractmethod
sample(t: Tensor) -> torch.Tensor
Sample a batched 12D target tensor for time values t.
__post_init__()
Initialize shared tensors from the center batch shape when available.
dataclass
HelixTrajectory(*, yaw_from_velocity: bool = True, fixed_yaw: Tensor | None = None, attitude: Tensor | None = None, body_rate: Tensor | None = None, center: Tensor, radius: Tensor, omega: Tensor, z_amplitude: Tensor, z_frequency: Tensor, z_phase: Tensor)
Bases: SpatialTrajectory
Batched helix trajectory with optional vertical oscillation.
方法：
| 名称 | 描述 |
|---|---|
sample_heading |
Sample batched yaw and yaw-rate references for time values |
build_target |
Assemble a batched 12D target tensor from motion primitives. |
__post_init__ |
Initialize shared tensors from the center batch shape when available. |
sample |
Sample the batched helix trajectory at time values |
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(t: Tensor, pos: Tensor, vel: Tensor, acc: Tensor) -> torch.Tensor
Assemble a batched 12D target tensor from motion primitives.
__post_init__()
Initialize shared tensors from the center batch shape when available.
sample(t: Tensor) -> torch.Tensor
Sample the batched helix trajectory at time values t.
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.
方法：
| 名称 | 描述 |
|---|---|
sample_heading |
Sample batched yaw and yaw-rate references for time values |
build_target |
Assemble a batched 12D target tensor from motion primitives. |
__post_init__ |
Initialize shared trajectory tensors from the hover-step batch. |
sample |
Sample the active hover targets for batched time values |
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(t: Tensor, pos: Tensor, vel: Tensor, acc: Tensor) -> torch.Tensor
Assemble a batched 12D target tensor from motion primitives.
__post_init__()
Initialize shared trajectory tensors from the hover-step batch.
sample(t: Tensor) -> torch.Tensor
Sample the active hover targets for batched time values t.
dataclass
LemniscateTrajectory(*, yaw_from_velocity: bool = True, fixed_yaw: Tensor | None = None, attitude: Tensor | None = None, body_rate: Tensor | None = None, center: Tensor, scale: Tensor, omega: Tensor, z_amplitude: Tensor, z_frequency: Tensor, z_phase: Tensor)
Bases: SpatialTrajectory
Batched Bernoulli lemniscate trajectory with vertical oscillation.
方法：
| 名称 | 描述 |
|---|---|
sample_heading |
Sample batched yaw and yaw-rate references for time values |
build_target |
Assemble a batched 12D target tensor from motion primitives. |
__post_init__ |
Initialize shared tensors from the center batch shape when available. |
sample |
Sample the batched lemniscate trajectory at time values |
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(t: Tensor, pos: Tensor, vel: Tensor, acc: Tensor) -> torch.Tensor
Assemble a batched 12D target tensor from motion primitives.
__post_init__()
Initialize shared tensors from the center batch shape when available.
sample(t: Tensor) -> torch.Tensor
Sample the batched lemniscate trajectory at time values t.
dataclass
LissajousTrajectory(*, yaw_from_velocity: bool = True, fixed_yaw: Tensor | None = None, attitude: Tensor | None = None, body_rate: Tensor | None = None, center: Tensor, amplitude: Tensor, frequency: Tensor, phase: Tensor, omega: Tensor)
Bases: SpatialTrajectory
Batched three-dimensional Lissajous trajectory.
方法：
| 名称 | 描述 |
|---|---|
sample_heading |
Sample batched yaw and yaw-rate references for time values |
build_target |
Assemble a batched 12D target tensor from motion primitives. |
__post_init__ |
Initialize shared tensors from the center batch shape when available. |
sample |
Sample the batched Lissajous trajectory at time values |
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(t: Tensor, pos: Tensor, vel: Tensor, acc: Tensor) -> torch.Tensor
Assemble a batched 12D target tensor from motion primitives.
__post_init__()
Initialize shared tensors from the center batch shape when available.
sample(t: Tensor) -> torch.Tensor
Sample the batched Lissajous trajectory at time values t.
dataclass
RectangleTrajectory(*, yaw_from_velocity: bool = True, fixed_yaw: Tensor | None = None, attitude: Tensor | None = None, body_rate: Tensor | None = None, center: Tensor, size: Tensor, speed: Tensor)
Bases: SpatialTrajectory
Batched constant-speed rectangle trajectory in the horizontal plane.
方法：
| 名称 | 描述 |
|---|---|
sample_heading |
Sample batched yaw and yaw-rate references for time values |
build_target |
Assemble a batched 12D target tensor from motion primitives. |
__post_init__ |
Initialize shared tensors from the center batch shape when available. |
sample |
Sample the batched rectangle trajectory at time values |
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(t: Tensor, pos: Tensor, vel: Tensor, acc: Tensor) -> torch.Tensor
Assemble a batched 12D target tensor from motion primitives.
__post_init__()
Initialize shared tensors from the center batch shape when available.
sample(t: Tensor) -> torch.Tensor
Sample the batched rectangle trajectory at time values t.