zonopyrobots.JrsGenerator

class zonopyrobots.JrsGenerator(robot, traj_class=<class 'zonopyrobots.trajectory.arm.BernsteinArmTrajectory'>, param_center=0, param_range=0.08726646259971647, tplan=0.5, tfinal=1.0, tdiscretization=0.01, ultimate_bound=None, k_r=None, batched=False, unique_tid=True, verbose=False)

Bases: object

__init__(robot, traj_class=<class 'zonopyrobots.trajectory.arm.BernsteinArmTrajectory'>, param_center=0, param_range=0.08726646259971647, tplan=0.5, tfinal=1.0, tdiscretization=0.01, ultimate_bound=None, k_r=None, batched=False, unique_tid=True, verbose=False)

Methods

__init__(robot[, traj_class, param_center, ...])
gen_JRS(q_in, qd_in[, qdd_in, ...])

Attributes

device
dtype

property device

property dtype

gen_JRS(q_in, qd_in, qdd_in=None, taylor_degree=1, make_gens_independent=True, only_R=False)