step.motion.path.passes.contract

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 Representation without a circular import.

A pass may optionally declare requires / produces (instances of 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

DEFAULT_REQUIRES

DEFAULT_PRODUCES

DEFAULT_TERMINAL

Classes

Representation

Segment representation a pass consumes or produces.

Module Contents

class step.motion.path.passes.contract.Representation(*args, **kwds)

Bases: 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.

RELATIVE = 'relative'
ABSOLUTE = 'absolute'
EITHER = 'either'
SAME = 'same'
step.motion.path.passes.contract.DEFAULT_REQUIRES
step.motion.path.passes.contract.DEFAULT_PRODUCES
step.motion.path.passes.contract.DEFAULT_TERMINAL = False