movement_primitives.base.PointToPointMovement

class movement_primitives.base.PointToPointMovement(n_pos_dims, n_vel_dims)

Bases: ABC

Base class for point to point movements (discrete motions).

Parameters:

n_pos_dimsint

Number of dimensions of the position that will be controlled.

n_vel_dimsint

Number of dimensions of the velocity that will be controlled.

Attributes:

n_dimsint

Number of state space dimensions.

n_vel_dimsint

Number of velocity dimensions.

tfloat

Current time.

last_tfloat

Time during last step.

start_yarray, shape (n_dims,)

Initial state.

start_ydarray, shape (n_vel_dims,)

Initial velocity.

start_yddarray, shape (n_vel_dims,)

Initial acceleration.

goal_yarray, shape (n_dims,)

Goal state.

goal_ydarray, shape (n_vel_dims,)

Goal velocity.

goal_yddarray, shape (n_vel_dims,)

Goal acceleration.

current_yarray, shape (n_dims,)

Current state.

current_ydarray, shape (n_vel_dims,)

Current velocity.

Methods

configure([t, start_y, start_yd, start_ydd, ...])	Set meta parameters.
n_steps_open_loop(last_y, last_yd, n_steps)	Perform 'n_steps' steps.
step(last_y, last_yd)	Perform step.

configure(t=None, start_y=None, start_yd=None, start_ydd=None, goal_y=None, goal_yd=None, goal_ydd=None)

Set meta parameters.

Parameters:

tfloat, optional

Time at current step.

start_yarray, shape (n_dims,)

Initial state.

start_ydarray, shape (n_vel_dims,)

Initial velocity.

start_yddarray, shape (n_vel_dims,)

Initial acceleration.

goal_yarray, shape (n_dims,)

Goal state.

goal_ydarray, shape (n_vel_dims,)

Goal velocity.

goal_yddarray, shape (n_vel_dims,)

Goal acceleration.

Raises:

ValueError

If the length of the configured meta parameter is not correct.

n_steps_open_loop(last_y, last_yd, n_steps)

Perform ‘n_steps’ steps.

Parameters:

last_yarray, shape (n_dims,)

Last state.

last_ydarray, shape (n_dims,)

Last time derivative of state (e.g., velocity).

n_stepsint

Number of steps.

Returns:

yarray, shape (n_dims,)

Next state.

ydarray, shape (n_dims,)

Next time derivative of state (e.g., velocity).

abstract step(last_y, last_yd)

Perform step.

Parameters:

last_yarray, shape (n_dims,)

Last state.

last_ydarray, shape (n_dims,)

Last time derivative of state (e.g., velocity).

Returns:

yarray, shape (n_dims,)

Next state.

ydarray, shape (n_dims,)

Next time derivative of state (e.g., velocity).