torchfilter.types
¶
Data structures and semantic type aliases for filtering.
Module Contents¶
Classes¶
Named tuple containing states, observations, and controls. 

Named tuple containing states, observations, and controls represented in NumPy. 

Named tuple containing states, observations, and controls represented in Torch. 

torchfilter.types.
NumpyDict
¶ Dictionary from
str
keys tonp.ndarray
values.

torchfilter.types.
TorchDict
¶ Dictionary from
str
keys totorch.Tensor
values.

torchfilter.types.
NumpyArrayOrDict
¶ Union of np.ndarray and NumpyDict types.

torchfilter.types.
TorchTensorOrDict
¶ Union of torch.Tensor and TorchDict types.

torchfilter.types.
StatesNumpy
¶ State array type hint. Needs to be a raw
np.ndarray
.

torchfilter.types.
StatesTorch
¶ State array type hint. Needs to be a raw
torch.Tensor
.

torchfilter.types.
ObservationsNumpy
¶ Observations can be either
np.ndarray
objects orstr>np.ndarray
dictionaries.

torchfilter.types.
ObservationsTorch
¶ Observations can be either
torch.Tensor
objects orstr>torch.Tensor
dictionaries.

torchfilter.types.
ObservationsNoDictNumpy
¶ Same as
ObservationsNumpy
, but no dictionaries.

torchfilter.types.
ObservationsNoDictTorch
¶ Same as
ObservationsTorch
, but no dictionaries.

torchfilter.types.
ControlsNumpy
¶ Controls can be either
np.ndarray
objects orstr>np.ndarray
dictionaries.

torchfilter.types.
ControlsTorch
¶ Controls can be either
torch.Tensor
objects orstr>torch.Tensor
dictionaries.

torchfilter.types.
CovarianceTorch
¶ Covariance matrix as
torch.Tensor
. Must be positive semidefinite.

torchfilter.types.
ScaleTrilTorch
¶ Lowertriangular cholesky decomposition of covariance matrix as
torch.Tensor
.

class
torchfilter.types.
Trajectory
[source]¶ Bases:
typing.NamedTuple
Named tuple containing states, observations, and controls.

states
:Union[StatesNumpy, StatesTorch]¶

observations
:Union[ObservationsNumpy, ObservationsTorch]¶

controls
:Union[ControlsNumpy, ControlsTorch]¶
