storm_kit.mpc.model.simple_model module¶
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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>¶
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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
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rollout_open_loop(start_state: torch.Tensor, act_seq: torch.Tensor) → Tuple[torch.Tensor, torch.Tensor, torch.Tensor][source]¶
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