LQT with control primitives

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

[Rofunc:MODULE] Planning smooth trajectory via LQT (control primitive)

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)