curobo.curobolib.tensor_step module

tensor_step_pos_clique_idx_fwd(
out_position,
out_velocity,
out_acceleration,
out_jerk,
u_position,
start_position,
start_velocity,
start_acceleration,
start_idx,
traj_dt,
batch_size,
horizon,
dof,
mode=-1,
)
tensor_step_pos_clique_fwd(
out_position,
out_velocity,
out_acceleration,
out_jerk,
u_position,
start_position,
start_velocity,
start_acceleration,
traj_dt,
batch_size,
horizon,
dof,
mode=-1,
)
tensor_step_acc_fwd(
out_position,
out_velocity,
out_acceleration,
out_jerk,
u_acc,
start_position,
start_velocity,
start_acceleration,
traj_dt,
batch_size,
horizon,
dof,
use_rk2=True,
)
tensor_step_acc_idx_fwd(
out_position,
out_velocity,
out_acceleration,
out_jerk,
u_acc,
start_position,
start_velocity,
start_acceleration,
start_idx,
traj_dt,
batch_size,
horizon,
dof,
use_rk2=True,
)
tensor_step_pos_clique_bwd(
out_grad_position,
grad_position,
grad_velocity,
grad_acceleration,
grad_jerk,
traj_dt,
batch_size,
horizon,
dof,
mode=-1,
)