utils package

simulate

autompc.utils.simulate(controller, init_obs, term_cond=None, dynamics=None, sim_model=None, max_steps=10000, silent=False)[source]

Simulate a controller with respect to a dynamics function or simulation model.

Parameters:

  • controller (Controller) – Controller to simulate

  • init_obs (numpy array of size controller.system.obs_dim) – Initial observation

  • term_cond (Function Trajectory -> bool) – Function which returns true when termination condition is met.

  • dynamics (Function obs, control -> newobs) – Function defining system dynamics

  • sim_model (Model) – Simulation model. Used when dynamics is None

  • max_steps (int) – Maximum number of simulation steps allowed. Default is 10000.

  • silent (bool) – Suppress output if True.