iLQR

This example shows how to use the iLQR algorithm to track a trajectory.

import rofunc as rf
import numpy as np
from rofunc.config.utils import get_config

cfg = get_config('./planning', 'ilqr')
# via-points
Mu = np.array([[2, 1, -np.pi / 6], [3, 2, -np.pi / 3]])  # Via-points
Rot = np.zeros([cfg.nbPoints, 2, 2])  # Object orientation matrices
# Object rotation matrices
for t in range(cfg.nbPoints):
    orn_t = Mu[t, -1]
    Rot[t, :, :] = np.asarray([
        [np.cos(orn_t), -np.sin(orn_t)],
        [np.sin(orn_t), np.cos(orn_t)]
    ])
u0 = np.zeros(cfg.nbVarU * (cfg.nbData - 1))  # Initial control command
x0 = np.array([3 * np.pi / 4, -np.pi / 2, -np.pi / 4])  # Initial state
rf.lqr.uni(Mu, Rot, u0, x0, cfg)