rofunc.planning_control.lqr.ilqr_obstacle

Contents

`rofunc.planning_control.lqr.ilqr_obstacle`#

1. Module Contents#

1.1. Functions#

`f_reach`
`f_avoid`
`get_u_x`
`uni_obstacle`
`vis`

1.2. API#

rofunc.planning_control.lqr.ilqr_obstacle.f_reach(x, Mu)#

rofunc.planning_control.lqr.ilqr_obstacle.f_avoid(cfg, x, Obst, U_obst)#

rofunc.planning_control.lqr.ilqr_obstacle.get_u_x(cfg: omegaconf.DictConfig, Mu: numpy.ndarray, Obst: numpy.ndarray, U_obst: numpy.ndarray, u: numpy.ndarray, x0: numpy.ndarray, R: numpy.ndarray, Su0: numpy.ndarray, Sx0: numpy.ndarray, idx: numpy.ndarray, tl: numpy.ndarray)#

rofunc.planning_control.lqr.ilqr_obstacle.uni_obstacle(Mu, Obst, S_obst, U_obst, u0, x0, cfg, for_test=False)#

rofunc.planning_control.lqr.ilqr_obstacle.vis(cfg, x, Mu, Obst, S_obst, for_test)#