storm_kit.mpc.cost.finite_difference_cost module

class FiniteDifferenceCost(tensor_args={'device': device(type='cpu'), 'dtype': torch.float32}, weight=1.0, order=1, gaussian_params={}, **kwargs)[source]

Bases: torch.nn.modules.module.Module

Initializes internal Module state, shared by both nn.Module and ScriptModule.

_is_full_backward_hook: Optional[bool]
forward(ctrl_seq, dt)[source]

ctrl_seq: [B X H X d_act]

training: bool