LQT with control primitives

This example shows how to use the LQT controller with control primitives to track a trajectory.

Traceback (most recent call last):
  File "/home/docs/checkouts/readthedocs.org/user_builds/rofunc/checkouts/latest/examples/planning_control/plot_example_lqt_cp.py", line 12, in <module>
    via_points_raw = np.load('../data/LQT_LQR/taichi_1l.npy')
  File "/home/docs/checkouts/readthedocs.org/user_builds/rofunc/envs/latest/lib/python3.8/site-packages/numpy/lib/npyio.py", line 417, in load
    fid = stack.enter_context(open(os_fspath(file), "rb"))
FileNotFoundError: [Errno 2] No such file or directory: '../data/LQT_LQR/taichi_1l.npy'

import os
import numpy as np
import rofunc as rf

via_points_raw = np.load('../data/LQT_LQR/taichi_1l.npy')
filter_indices = [i for i in range(0, len(via_points_raw) - 10, 5)]
filter_indices.append(len(via_points_raw) - 1)
via_points_raw = via_points_raw[filter_indices]

cfg = rf.config.utils.get_config("./planning", "lqt_cp")

controller = rf.planning_control.lqt.lqt_cp.LQTCP(via_points_raw, cfg)
u_hat, x_hat, mu, idx_slices = controller.solve()
rf.lqt.plot_3d_uni([x_hat], mu, idx_slices)