armour.reachsets.JRSInstance

class armour.reachsets.JRSInstance[source]

Bases: ReachSetInstance

This is just an individual instance of an original ARMTD JRS

__init__()[source]

Methods

__init__()

genNLConstraint(worldState)

Handles the obstacle-frs pair or similar to generate the nlconstraint.

initialize(traj_type)

genNLConstraint(worldState: WorldState) → Callable[source]

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]

initialize(traj_type: str)[source]