Monty.Frameworks.Models.MotorSystem.SurfacePolicyActionDetailsTelemetry (ExTbpMonty.Core v0.1.0)

What a surface policy wants remembered about the actions it just chose.

Mirrors tbp/monty/frameworks/models/motor_system.py::SurfacePolicyActionDetailsTelemetry. One entry per step, in the order the steps happened:

pc_heading — which principal curvature the policy headed for, "min", "max", "no" or "jump", or nil when it is not a surface move;
avoidance_heading — whether the step was one of the policy's moves to get out of a tight spot;
z_defined_pc — the principal curvature vectors the policy used.

Monty keeps this on the motor system because there is nowhere else for it to go yet ("TODO: Get rid of this once we have another path for telemetry"), and the same is true here.

Summary

Types

pc_heading()

t()

Functions

append(telemetry, step)

Adds one step's worth of telemetry, at the end.

Types

pc_heading()

@type pc_heading() :: :min | :max | :no | :jump | nil

t()

@type t() :: %Monty.Frameworks.Models.MotorSystem.SurfacePolicyActionDetailsTelemetry{
  avoidance_heading: [boolean() | nil],
  pc_heading: [pc_heading()],
  z_defined_pc: [term()]
}

Functions

append(telemetry, step)

@spec append(t(), term()) :: t()

Adds one step's worth of telemetry, at the end.

A step with no telemetry adds nothing, which is what keeps the three lists the same length as the list of steps that had a surface policy.