Usage

Import the necessary packages:

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

1.  LQT variants

1.1.  LQT

via_points = ...  # [nb_via_points, via_points_dim]
u_hat, x_hat, mu, idx_slices = rf.lqt.uni(via_points)
rf.lqt.plot_3d_uni(x_hat, mu, idx_slices, ori=False, save=False)

1.2.  LQT with feedback

via_points = ...  # [nb_via_points, via_points_dim]
rf.lqt.uni_fb(via_points)

1.3.  LQT with control primitive

via_points = ...  # [nb_via_points, via_points_dim]
u_hat, x_hat, mu, idx_slices = rf.lqt.uni_cp(via_points)
rf.lqt.plot_3d_uni([x_hat], mu, idx_slices)

2.  iLQR variants

2.1.  iLQR

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)

2.2.  iLQR with control primitive

cfg = get_config('./planning', 'ilqr')

# Via-points
Mu = np.array([[2, 1, -np.pi / 2], [3, 1, -np.pi / 2]])  # Via-points
Rot = np.zeros([2, 2, cfg.nbPoints])  # 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_cp(Mu, Rot, u0, x0, cfg)

3.  MPC variants