rtd.planner.reachsets.ReachSetInstance

class rtd.planner.reachsets.ReachSetInstance

Bases: object

Base class for a single reachable set generated for some state + parameters

This is just an individual instance of a reachable set. It should hold the necessary information to make a nonlinear constraint. If a generated nonlinear constraint function is not atomic (specifically, if it can change class properties, the cache for the respective ReachSetGenerator should be disabled by setting cache_max_size to 0

__init__()

Methods

__init__()
genNLConstraint(worldState)	Generate the nonlinear constraint function for the provided worldState

abstract genNLConstraint(worldState: WorldState) → Callable

Generate the nonlinear constraint function for the provided worldState

This function should handle the obstacle-frs pair or similar to generate the nonlinear constraint. This should return a function handle that return 4 outputs: (c, ceq, gc, gceq), where c <= 0 and ceq = 0 are the constraints, and gc and gceq are the gradients for the respective constraints

Parameters:

worldState – WorldState: The observation of the world we want to generate the constraint for

Returns:

A function handle for the generated nlconstraint where the constraint function’s return type is (c, ceq, gc, gceq)

Return type:

function_handle