armour.reachsets.FOInstance

class armour.reachsets.FOInstance(FO, jrsInstance: JRSInstance, obs_frs_combs)

Bases: ReachSetInstance

JLSInstance This is just an individual instance of joint limit set set from armour

__init__(FO, jrsInstance: JRSInstance, obs_frs_combs)

Methods

__init__(FO, jrsInstance, obs_frs_combs)
batch_obs_constraint(c, grad_c, k)	Made a separate function to handle the obstacle constraints, because the gradient requires knowing the index causing the max of the constraints
eval_constraints(k, n_c, obs_constraints[, ...])
genNLConstraint(worldState)	Handles the obstacle-frs pair or similar to generate the nlconstraint.

batch_obs_constraint(c: Callable, grad_c: Callable, k) → tuple[float, list]

Made a separate function to handle the obstacle constraints, because the gradient requires knowing the index causing the max of the constraints

static eval_constraints(k, n_c: int, obs_constraints: list[Callable], batch_size: int = 1)

genNLConstraint(worldState: WorldState) → Callable

Handles the obstacle-frs pair or similar to generate the nlconstraint. Returns a function handle for the nlconstraint generated where the function’s return type is [c, ceq, gc, gceq]