`visualizers.viser_app.controllers.controller`#

Module Contents#

class visualizers.viser_app.controllers.controller.ControllerConfig#: Base controller config with spline parameters.

class visualizers.viser_app.controllers.controller.Controller#

Abstract base class for all controller implementations. .. py:property:: num_timesteps

type:

int

abstractmethod:

Helper function to recalculate the number of timesteps for simulation

abstract property rollout_times: numpy.ndarray#

Helper function to calculate the rollout times based on the horizon length

abstract property controls: numpy.ndarray#

Contains the control signals applied in the current rollout.

abstract make_models() → None#

Helper to re-size the models vector to config.num_rollouts.

abstract update_action(curr_state: numpy.ndarray, curr_time: float, additional_info: dict[str, Any]) → None#

Abstract method for updating controller actions from current state/time.

Parameters:

Return type:

None

abstract action(time: float) → numpy.ndarray#

Abstract method for querying current action from controller.

abstract set_default_controls() → None#

Set default value for the Controller.controls. if there is no default value set to zero.

abstract reset() → None#

Reset the controls and the spline to their default values.