planner.dynamics.simulator_plant#

Module Contents#

class planner.dynamics.simulator_plant.SimulatorPlant(params: jacta.planner.core.parameter_container.ParameterContainer)#
Parameters:

params (jacta.planner.core.parameter_container.ParameterContainer) –

state_difference(s1: torch.FloatTensor, s2: torch.FloatTensor, h: float = 1.0) → torch.FloatTensor#
Parameters:

  • s1 (torch.FloatTensor) –

  • s2 (torch.FloatTensor) –

  • h (float) –

Return type:

torch.FloatTensor

planner.dynamics.simulator_plant.scaled_distances_to(plant: SimulatorPlant, states: torch.FloatTensor, target_states: torch.FloatTensor) → torch.FloatTensor#
Parameters:

  • plant (SimulatorPlant) –

  • states (torch.FloatTensor) –

  • target_states (torch.FloatTensor) –

Return type:

torch.FloatTensor

planner.dynamics.simulator_plant.scale_distances(delta_states: torch.FloatTensor, scaling: torch.FloatTensor) → torch.FloatTensor#
Parameters:

  • delta_states (torch.FloatTensor) –

  • scaling (torch.FloatTensor) –

Return type:

torch.FloatTensor