def forward_pass(self, lgc):
xdist = Gaussian(self.dm_state, self.nb_steps + 1)
udist = Gaussian(self.dm_act, self.nb_steps)
xudist = Gaussian(self.dm_state + self.dm_act, self.nb_steps + 1)
xdist.mu, xdist.sigma,\
udist.mu, udist.sigma,\
xudist.mu, xudist.sigma = forward_pass(self.xdist.mu[..., 0], self.xdist.sigma[..., 0],
self.dyn.A, self.dyn.B, self.dyn.c, self.dyn.sigma,
lgc.K, lgc.kff, lgc.sigma,
self.dm_state, self.dm_act, self.nb_steps)
return xdist, udist, xudist
def forward_pass(self, lgc):
"""
Forward pass on linearized system
:param lgc:
:return:
"""
xdist = Gaussian(self.nb_xdim, self.nb_steps + 1)
udist = Gaussian(self.nb_udim, self.nb_steps)
xudist = Gaussian(self.nb_xdim + self.nb_udim, self.nb_steps + 1)
xdist.mu, xdist.sigma,\
udist.mu, udist.sigma,\
xudist.mu, xudist.sigma = forward_pass(self.xdist.mu[..., 0], self.xdist.sigma[..., 0],
self.dyn.A, self.dyn.B, self.dyn.c, self.dyn.sigma,
lgc.K, lgc.kff, lgc.sigma,
self.nb_xdim, self.nb_udim, self.nb_steps)
return xdist, udist, xudist