armour.reachsets.FOGenerator

class armour.reachsets.FOGenerator(robot, jrsGenerator: JRSGenerator, smooth_obs: bool = False, obs_frs_combs: dict = None)

Bases: ReachSetGenerator

ForwardOccupancy This acts as a generator for a single instance of a ForwardReachableSet, and return FOInstance

__init__(robot, jrsGenerator: JRSGenerator, smooth_obs: bool = False, obs_frs_combs: dict = None)

Methods

__init__(robot, jrsGenerator[, smooth_obs, ...])
generateReachableSet(robotState)	Obtains the relevant reachable set for the robotstate provided and outputs the singular instance of a reachable set.
generate_combinations_upto(n)	generate a bunch of combinations, store in a cell
getReachableSet(robotState[, ignore_cache])	Get a reachable set instance for the given robot state and passthrough arguments

generateReachableSet(robotState: EntityState) → dict[int, armour.reachsets.FOInstance.FOInstance]

Obtains the relevant reachable set for the robotstate provided and outputs the singular instance of a reachable set. Returns FOInstance

static generate_combinations_upto(n: int) → list[list[int]]

generate a bunch of combinations, store in a cell

getReachableSet(robotState: EntityState, ignore_cache: bool = False, **options) → dict[int, rtd.planner.reachsets.ReachSetInstance.ReachSetInstance]

Get a reachable set instance for the given robot state and passthrough arguments

This function handles how to actually get the reachable set with built in caching of already generated instances. It will call generateReachableSet as needed. This is useful if we need to use one reachable set in another reachable set and we don’t want to regenerate it online. It performs caching based on the id of the provided robotState and and the string cast of any additional arguments. If we don’t want to use the cache on one call, setting ignore_cache to true will bypass caching altogether

Parameters:

• robotState – EntityState: Some state of used for generation / keying

• ignore_cache – bool: If set true, the cache is completely ignored

Returns:

A dict of problem id to ReachSetInstance pairs

Return type:

dict