rofunc.planning_control.lqr.ilqr_dyna

Contents

`rofunc.planning_control.lqr.ilqr_dyna`#

1. Module Contents#

1.1. Functions#

`forward_dynamics`
`get_matrices`
`get_u_x`
`uni_dyna`
`vis`

1.2. API#

rofunc.planning_control.lqr.ilqr_dyna.forward_dynamics(cfg, x, u)#

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

rofunc.planning_control.lqr.ilqr_dyna.get_u_x(cfg: omegaconf.DictConfig, Mu: numpy.ndarray, Rot: numpy.ndarray, u: numpy.ndarray, x0: numpy.ndarray, v0: numpy.ndarray, Q: numpy.ndarray, R: numpy.ndarray, idx: numpy.ndarray, tl: numpy.ndarray)#

rofunc.planning_control.lqr.ilqr_dyna.uni_dyna(Mu, Rot, u0, x0, v0, cfg, for_test=False)#

rofunc.planning_control.lqr.ilqr_dyna.vis(cfg, Mu, Rot, x, tl, for_test)#