Monty.Frameworks.Actions.ActionSamplers.UniformlyDistributedSampler (ExTbpMonty.Core v0.1.0)

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Makes actions whose parameters are drawn uniformly from configured ranges.

Mirrors tbp/monty/frameworks/actions/action_samplers.py::UniformlyDistributedSampler. Turning actions draw their degrees from :min_rotation_degrees.. :max_rotation_degrees, moving actions their distance from :min_translation..:max_translation, and the actions that name an absolute angle — pitch, yaw — from :min_absolute_degrees..:max_absolute_degrees.

Monty's default for :min_translation and :max_translation is the same value, so a default-constructed sampler moves a fixed 5 cm and only the turning is random. That looks like an oversight and is reproduced: an experiment that wants random distances has to say so.

The quaternion

random_quaternion_wxyz/1 is Monty's own construction — two half-angles drawn from three uniforms, arranged as (w, x, y, z) — not numpy's, so the numbers differ from any other uniform-quaternion routine. It is reproduced component for component, including the order the three draws are made in, because the stream is what a sampler's caller shares.

Summary

Types

t()

Functions

new(options \\ [])

A sampler that draws its parameters from the configured ranges.

Types

t()

@type t() :: %Monty.Frameworks.Actions.ActionSamplers.UniformlyDistributedSampler{
  actions: [module()],
  max_absolute_degrees: float(),
  max_rotation_degrees: float(),
  max_translation: float(),
  min_absolute_degrees: float(),
  min_rotation_degrees: float(),
  min_translation: float()
}

Functions

new(options \\ [])

@spec new(keyword()) :: t()

A sampler that draws its parameters from the configured ranges.