:mod:`torchfilter.types` ======================== .. py:module:: torchfilter.types .. autoapi-nested-parse:: Data structures and semantic type aliases for filtering. Module Contents --------------- Classes ~~~~~~~ .. autoapisummary:: torchfilter.types.Trajectory torchfilter.types.TrajectoryNumpy torchfilter.types.TrajectoryTorch .. data:: NumpyDict Dictionary from ``str`` keys to ``np.ndarray`` values. .. data:: TorchDict Dictionary from ``str`` keys to ``torch.Tensor`` values. .. data:: NumpyArrayOrDict Union of np.ndarray and NumpyDict types. .. data:: TorchTensorOrDict Union of torch.Tensor and TorchDict types. .. data:: StatesNumpy State array type hint. Needs to be a raw ``np.ndarray``. .. data:: StatesTorch State array type hint. Needs to be a raw ``torch.Tensor``. .. data:: ObservationsNumpy Observations can be either ``np.ndarray`` objects or ``str->np.ndarray`` dictionaries. .. data:: ObservationsTorch Observations can be either ``torch.Tensor`` objects or ``str->torch.Tensor`` dictionaries. .. data:: ObservationsNoDictNumpy Same as ``ObservationsNumpy``\ , but no dictionaries. .. data:: ObservationsNoDictTorch Same as ``ObservationsTorch``\ , but no dictionaries. .. data:: ControlsNumpy Controls can be either ``np.ndarray`` objects or ``str->np.ndarray`` dictionaries. .. data:: ControlsTorch Controls can be either ``torch.Tensor`` objects or ``str->torch.Tensor`` dictionaries. .. data:: CovarianceTorch Covariance matrix as ``torch.Tensor``. Must be positive semi-definite. .. data:: ScaleTrilTorch Lower-triangular cholesky decomposition of covariance matrix as ``torch.Tensor``. .. py:class:: Trajectory Bases: :class:`typing.NamedTuple` .. autoapi-inheritance-diagram:: torchfilter.types.Trajectory :parts: 1 Named tuple containing states, observations, and controls. .. attribute:: states :annotation: :Union[StatesNumpy, StatesTorch] .. attribute:: observations :annotation: :Union[ObservationsNumpy, ObservationsTorch] .. attribute:: controls :annotation: :Union[ControlsNumpy, ControlsTorch] .. py:class:: TrajectoryNumpy Bases: :class:`torchfilter.types.Trajectory` .. autoapi-inheritance-diagram:: torchfilter.types.TrajectoryNumpy :parts: 1 Named tuple containing states, observations, and controls represented in NumPy. .. attribute:: states :annotation: :StatesNumpy .. attribute:: observations :annotation: :ObservationsNumpy .. attribute:: controls :annotation: :ControlsNumpy .. py:class:: TrajectoryTorch Bases: :class:`torchfilter.types.Trajectory` .. autoapi-inheritance-diagram:: torchfilter.types.TrajectoryTorch :parts: 1 Named tuple containing states, observations, and controls represented in Torch. .. attribute:: states :annotation: :StatesTorch .. attribute:: observations :annotation: :ObservationsTorch .. attribute:: controls :annotation: :ControlsTorch