step.motion.path.passes.contract
================================

.. py:module:: step.motion.path.passes.contract

.. autoapi-nested-parse::

   Pass contract primitives — segment representation + extended-contract defaults.

   This module is intentionally neutral: it imports nothing from ``optimize.py``
   or from any sibling pass, so passes can declare ``requires`` / ``produces`` /
   ``terminal`` against :class:`Representation` without a circular import.

   A pass may optionally declare ``requires`` / ``produces`` (instances of
   :class:`Representation`) and ``terminal`` (a bool) as class attributes.  Passes
   that don't declare these behave as ``EITHER`` / ``SAME`` / non-terminal via the
   ``DEFAULT_*`` constants below.



Attributes
----------

.. autoapisummary::

   step.motion.path.passes.contract.DEFAULT_REQUIRES
   step.motion.path.passes.contract.DEFAULT_PRODUCES
   step.motion.path.passes.contract.DEFAULT_TERMINAL


Classes
-------

.. autoapisummary::

   step.motion.path.passes.contract.Representation


Module Contents
---------------

.. py:class:: Representation(*args, **kwds)

   Bases: :py:obj:`enum.Enum`


   Segment representation a pass consumes or produces.

   - ``RELATIVE`` — body-frame deltas (the default stream representation).
   - ``ABSOLUTE`` — world-frame waypoints.
   - ``EITHER``   — a pass that accepts whatever representation is current.
   - ``SAME``     — a pass that leaves the representation unchanged.


   .. py:attribute:: RELATIVE
      :value: 'relative'



   .. py:attribute:: ABSOLUTE
      :value: 'absolute'



   .. py:attribute:: EITHER
      :value: 'either'



   .. py:attribute:: SAME
      :value: 'same'



.. py:data:: DEFAULT_REQUIRES

.. py:data:: DEFAULT_PRODUCES

.. py:data:: DEFAULT_TERMINAL
   :value: False