storm_kit.mpc.control.sample_libs module

class HaltonSampleLib(horizon=0, d_action=0, seed=0, mean=None, scale_tril=None, covariance_matrix=None, tensor_args={'device': 'cpu', 'dtype': torch.float32}, fixed_samples=False, **kwargs)[source]

Bases: storm_kit.mpc.control.sample_libs.SampleLib

get_samples(sample_shape, base_seed=None, filter_smooth=False, **kwargs)[source]
class HaltonStompSampleLib(horizon=0, d_action=0, seed=0, mean=None, scale_tril=None, covariance_matrix=None, tensor_args={'device': 'cpu', 'dtype': torch.float32}, fixed_samples=False, sample_ratio=0.2, **kwargs)[source]

Bases: storm_kit.mpc.control.sample_libs.SampleLib

get_samples(sample_shape, base_seed=None, **kwargs)[source]
class KnotSampleLib(horizon=0, d_action=0, n_knots=0, degree=3, seed=0, tensor_args={'device': 'cpu', 'dtype': torch.float32}, sample_method='halton', covariance_matrix=None, **kwargs)[source]

Bases: object

get_samples(sample_shape, **kwargs)[source]
class MultipleSampleLib(horizon=0, d_action=0, seed=0, mean=None, covariance_matrix=None, tensor_args={'device': 'cpu', 'dtype': torch.float32}, fixed_samples=False, sample_ratio={'halton': 0.2, 'halton-knot': 0.2, 'random': 0.2, 'random-knot': 0.2}, knot_scale=10, **kwargs)[source]

Bases: storm_kit.mpc.control.sample_libs.SampleLib

get_samples(sample_shape, base_seed=None, **kwargs)[source]
class RandomSampleLib(horizon=0, d_action=0, seed=0, mean=None, scale_tril=None, covariance_matrix=None, tensor_args={'device': 'cpu', 'dtype': torch.float32}, fixed_samples=False, **kwargs)[source]

Bases: storm_kit.mpc.control.sample_libs.SampleLib

get_samples(sample_shape, base_seed=None, filter_smooth=False, **kwargs)[source]
class SampleLib(horizon=None, d_action=None, seed=0, mean=None, scale_tril=None, covariance_matrix=None, tensor_args={'device': 'cpu', 'dtype': torch.float32}, fixed_samples=False, filter_coeffs=None, **kwargs)[source]

Bases: object

filter_samples(eps)[source]
filter_smooth(samples)[source]
get_samples(sample_shape, base_seed, current_state=None, **kwargs)[source]
class SineSampleLib(horizon=None, d_action=None, seed=0, mean=None, scale_tril=None, covariance_matrix=None, tensor_args={'device': 'cpu', 'dtype': torch.float32}, fixed_samples=False, filter_coeffs=None, period=2, **kwargs)[source]

Bases: storm_kit.mpc.control.sample_libs.SampleLib

generate_sine_wave(horizon=None)[source]
get_samples(sample_shape, base_seed=None, **kwargs)[source]
class StompSampleLib(horizon=0, d_action=0, seed=0, tensor_args={'device': 'cpu', 'dtype': torch.float32}, fixed_samples=False, **kwargs)[source]

Bases: storm_kit.mpc.control.sample_libs.SampleLib

get_samples(sample_shape, base_seed=None, **kwargs)[source]
bspline(c_arr, t_arr=None, n=100, degree=3)[source]