Method is_valid

description/robots/dtype.py:240–241

(self, posecls: Type['PoseArray'])

    kd: np.ndarray
    
    def is_valid(self, posecls: Type['PoseArray']) -> bool:
        return posecls.is_valid_array(self.kp) and posecls.is_valid_array(self.kd)
    
    def expand(self, posesubcls: Type['PoseArray'], posecls: Type['PoseArray']) -> 'PDCfg':
        assert self.is_valid(posesubcls) and set(posesubcls.arrorder) <= set(posecls.arrorder)