def __init__(self, pose_space, commands_spec,
noise_drift=None, noise_mult=None):
if not pose_space.embeddable_in(SE3):
msg = 'I expect a subgroup of SE3.'
raise ValueError(msg)
algebra = pose_space.get_algebra()
n = algebra.get_dimension()
if noise_drift is None:
noise_drift = np.zeros(n)
if noise_mult is None:
noise_mult = np.zeros(n)
noise_drift = np.array(noise_drift)
noise_mult = np.array(noise_mult)
if noise_mult.size != n:
msg = 'Wrong size for noise_mult: %s' % str(noise_mult)
raise ValueError(msg)
if noise_drift.size != n:
msg = 'Wrong size for noise_mult: %s' % str(noise_mult)
raise ValueError(msg)
self.noise_drift = noise_drift
self.noise_mult = noise_mult
self.pose_space = pose_space
conf_space = pose_space.tangent_bundle()
Dynamics.__init__(self, state_space=conf_space,
commands_spec=commands_spec)
def __init__(self, **kwargs):
self.car = SimpleCar(**kwargs)
state_space = ProductManifold((self.car.get_state_space(), R1))
commands_spec = self.car.get_commands_spec()
Dynamics.__init__(self, state_space=state_space,
commands_spec=commands_spec)
def __init__(self, **kwargs):
self.car = SimpleCar(**kwargs)
state_space = ProductManifold((self.car.get_state_space(), R1))
commands_spec = self.car.get_commands_spec()
Dynamics.__init__(self,
state_space=state_space,
commands_spec=commands_spec)
def __init__(self, base, top):
self.base = base
self.top = top
cmd1 = StreamSpec.from_yaml(self.base.get_commands_spec())
cmd2 = StreamSpec.from_yaml(self.top.get_commands_spec())
cmd_spec = StreamSpec.join(cmd1, cmd2).to_yaml()
components = [self.base.get_state_space(),
self.top.get_state_space()]
state_space = ProductManifold(components)
Dynamics.__init__(self, commands_spec=cmd_spec,
state_space=state_space)
def __init__(self, base, top):
self.base = base
self.top = top
cmd1 = StreamSpec.from_yaml(self.base.get_commands_spec())
cmd2 = StreamSpec.from_yaml(self.top.get_commands_spec())
cmd_spec = StreamSpec.join(cmd1, cmd2).to_yaml()
components = [self.base.get_state_space(), self.top.get_state_space()]
state_space = ProductManifold(components)
Dynamics.__init__(self,
commands_spec=cmd_spec,
state_space=state_space)
def __init__(self,
pose_space,
commands_spec,
noise_drift=None,
noise_mult=None):
if not pose_space.embeddable_in(SE3):
msg = 'I expect a subgroup of SE3.'
raise ValueError(msg)
algebra = pose_space.get_algebra()
n = algebra.get_dimension()
if noise_drift is None:
noise_drift = np.zeros(n)
if noise_mult is None:
noise_mult = np.zeros(n)
noise_drift = np.array(noise_drift)
noise_mult = np.array(noise_mult)
if noise_mult.size != n:
msg = 'Wrong size for noise_mult: %s' % str(noise_mult)
raise ValueError(msg)
if noise_drift.size != n:
msg = 'Wrong size for noise_mult: %s' % str(noise_mult)
raise ValueError(msg)
self.noise_drift = noise_drift
self.noise_mult = noise_mult
self.pose_space = pose_space
conf_space = pose_space.tangent_bundle()
Dynamics.__init__(self,
state_space=conf_space,
commands_spec=commands_spec)
