helix

Torch helix trajectory implementation.

类：

名称	描述
HelixTrajectory	Batched helix trajectory with optional vertical oscillation.

HelixTrajectory 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	Sample the batched helix trajectory at 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__	Initialize shared tensors from the center batch shape when available.

sample

sample(t: Tensor) -> torch.Tensor

Sample the batched helix trajectory at 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.

__post_init__

__post_init__()

Initialize shared tensors from the center batch shape when available.