storm_kit.mpc.model.simple_model module

class HolonomicModel(dt, batch_size=1000, horizon=5, tensor_args={'device': 'cpu', 'dtype': torch.float32}, dt_traj_params=None, control_space='acc')[source]

Bases: storm_kit.mpc.model.model_base.DynamicsModelBase

_abc_impl = <_abc_data object>
filter_actions(act_seq, state_seq, prev_state_buffer)[source]
get_next_state(curr_state, act, dt)[source]

Does a single step from the current state

Parameters
  • curr_state – current state

  • act – action

  • dt – time to integrate

Returns

next_state

integrate_action(act_seq)[source]
integrate_action_step(act, dt)[source]
rollout_open_loop(start_state: torch.Tensor, act_seq: torch.Tensor)Tuple[torch.Tensor, torch.Tensor, torch.Tensor][source]