storm_kit.mpc.model.integration_utils module

build_fd_matrix(horizon, device='cpu', dtype=torch.float32, order=1, PREV_STATE=False, FULL_RANK=False)[source]
build_int_matrix(horizon, diagonal=0, device='cpu', dtype=torch.float32, order=1, traj_dt=None)[source]
tensor_linspace(start_tensor, end_tensor, steps=10)[source]
tensor_step_acc(state, act, state_seq, dt_h, n_dofs, integrate_matrix, fd_matrix=None)[source]
tensor_step_jerk(state, act, state_seq, dt_h, n_dofs, integrate_matrix, fd_matrix=None)[source]
tensor_step_pos(state, act, state_seq, dt_h, n_dofs, integrate_matrix, fd_matrix)[source]
tensor_step_vel(state, act, state_seq, dt_h, n_dofs, integrate_matrix, fd_matrix)[source]