rofunc.planning_control.lqr.ilqr_bi

Contents

`rofunc.planning_control.lqr.ilqr_bi`#

1. Module Contents#

1.1. Functions#

`fkin`
`fkin0`
`f_reach`
`Jkin`
`f_reach_CoM`
`fkin_CoM`
`Jkin_CoM`
`get_matrices`
`get_u_x`
`uni_bi`
`vis`

1.2. API#

rofunc.planning_control.lqr.ilqr_bi.fkin(cfg, x)#

rofunc.planning_control.lqr.ilqr_bi.fkin0(cfg, x)#

rofunc.planning_control.lqr.ilqr_bi.f_reach(cfg, x, Mu)#

rofunc.planning_control.lqr.ilqr_bi.Jkin(cfg, x)#

rofunc.planning_control.lqr.ilqr_bi.f_reach_CoM(cfg, x, MuCoM)#

rofunc.planning_control.lqr.ilqr_bi.fkin_CoM(cfg, x)#

rofunc.planning_control.lqr.ilqr_bi.Jkin_CoM(cfg, x)#

rofunc.planning_control.lqr.ilqr_bi.get_matrices(cfg: omegaconf.DictConfig)#

rofunc.planning_control.lqr.ilqr_bi.get_u_x(cfg: omegaconf.DictConfig, Mu: numpy.ndarray, MuCoM: numpy.ndarray, u: numpy.ndarray, x0: numpy.ndarray, Q: numpy.ndarray, Qc: numpy.ndarray, R: numpy.ndarray, Su0: numpy.ndarray, Sx0: numpy.ndarray, idx: numpy.ndarray, tl: numpy.ndarray)#

rofunc.planning_control.lqr.ilqr_bi.uni_bi(Mu, MuCoM, u0, x0, cfg, for_test=False)#

rofunc.planning_control.lqr.ilqr_bi.vis(cfg, x, Mu, MuCoM, tl, for_test)#