rofunc.planning_control.lqt.lqt#

Linear Quadratic Tracker

Refers to https://gitlab.idiap.ch/rli/robotics-codes-from-scratch by Dr. Sylvain Calinon

1.  Module Contents#

1.1.  Classes#

LQT

LQTHierarchical

LQTBi

1.2.  API#

class rofunc.planning_control.lqt.lqt.LQT(all_points, cfg: omegaconf.DictConfig = None)[source]#

Initialization

get_matrices()[source]#
set_dynamical_system()[source]#
get_u_x(mu: numpy.ndarray, Q: numpy.ndarray, R: numpy.ndarray, Su: numpy.ndarray, Sx: numpy.ndarray, **kwargs) → Tuple[numpy.ndarray, numpy.ndarray][source]#
solve()[source]#
class rofunc.planning_control.lqt.lqt.LQTHierarchical(all_points: numpy.ndarray, cfg: omegaconf.DictConfig = None, interval: int = 3)[source]#

Bases: rofunc.planning_control.lqt.lqt.LQT

Initialization

solve()[source]#
class rofunc.planning_control.lqt.lqt.LQTBi(all_points_l: numpy.ndarray, all_points_r: numpy.ndarray, cfg: omegaconf.DictConfig = None)[source]#

Bases: rofunc.planning_control.lqt.lqt.LQT

Initialization

solve()[source]#