rofunc.planning_control.lqr.ilqr_cp#
iLQR for a viapoints task (control primitive version)
Refers to https://gitlab.idiap.ch/rli/robotics-codes-from-scratch by Dr. Sylvain Calinon
1. Module Contents#
1.1. Functions#
1.2. API#
- rofunc.planning_control.lqr.ilqr_cp.get_u_x(cfg: omegaconf.DictConfig, Mu: numpy.ndarray, Rot: numpy.ndarray, u: numpy.ndarray, x0: numpy.ndarray, Q: numpy.ndarray, R: numpy.ndarray, Su0: numpy.ndarray, Sx0: numpy.ndarray, idx: numpy.ndarray, tl: numpy.ndarray, PSI)#
- rofunc.planning_control.lqr.ilqr_cp.uni_cp(Mu, Rot, u0, x0, cfg, for_test=False)#
- rofunc.planning_control.lqr.ilqr_cp.vis(cfg, u, x, Mu, Rot, tl, phi, for_test)#