hover_step

Torch hover-step trajectory implementation.

类：

名称	描述
`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.

方法：

名称	描述
`__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.