Constraints module

Constraints verification.

pyrotor.constraints.is_in_constraints(trajectory, constraints, costs_by_time)

Check wether or not the trajectory is complying with each constraint.

Inputs:

• trajectory: pandas DataFrame

  Trajectory to be checked

• constraints: list

  Constraints the trajectory must complain with. Each constraint is model as a function; if the function is negative when applied on the right variable, then the constraint is considered as not satisfied. ex: [f1, f2] and if f1(trajectory) < 0 then the constraint is not satisfied

• costs_by_time: ndarray

  Optimized trajectory cost (useful when the constraints depend on the trajectory cost)

Output:

is_in: bool

Wether or not constraints are satisfied