State PyTrees

Note

State PyTrees that are operated on by specific model types are located alongside their respective types.

For example, MechanicsState is defined in the same module as Mechanics.

feedbax.state.State module-attribute

State: TypeAlias = PyTree

feedbax.state.StateT module-attribute

StateT = TypeVar('StateT', bound=State)

feedbax.state.StateBounds (Module, Generic[StateT])

Specifies bounds on a state.

Attributes:

Name	Type	Description
low	Optional[StateT]	A state PyTree giving lower bounds.
high	Optional[StateT]	A state PyTree giving upper bounds.

filter_spec: PyTree[bool] cached property

A matching PyTree, indicated which parts of the state are bounded.

feedbax.state.CartesianState (Module)

Cartesian state of a mechanical system in two spatial dimensions.

Attributes:

Name	Type	Description
pos	Float[Array, '... 2']	The position coordinates of the point(s) in the system.
vel	Float[Array, '... 2']	The respective velocities.
force	Float[Array, '... 2']	The respective forces.

feedbax.state.clip_state (bounds: StateBounds[StateT],state: StateT) -> StateT

Returns a state clipped to the given bounds.

Parameters:

Name	Type	Description	Default
bounds	StateBounds[StateT]	The lower and upper bounds to clip the state to.	required
state	StateT	The state to clip.	required