interp_expdecay¶
- interp_expdecay(prev_data: Tensor, next_data: Tensor, sample_at: Tensor, step_time: float, *, time_constant: float, **kwargs) Tensor[source]¶
Interpolates by exponentially decaying value from previous state, parameterized by a time constant.
\[D(t_s) = D(0) \exp\left(-\frac{t_s}{\tau}\right)\]- Parameters:
prev_data (torch.Tensor) – most recent observation prior to sample time, \(D(t=0)\).
next_data (torch.Tensor) – most recent observation subsequent to sample time, \(D(t=\Delta t)\).
sample_at (torch.Tensor) – relative time at which to sample data, \(t_s\).
step_time (float) – length of time between the prior and subsequent observations, \(\Delta t\).
time_constant (float) – time constant of exponential decay, \(\tau\).
- Returns:
interpolated data at sample time, \(D(t=t_s)\).
- Return type: