:py:mod:`rofunc.planning_control.lqr.ilqr`
==========================================

.. py:module:: rofunc.planning_control.lqr.ilqr

.. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr
   :allowtitles:

Module Contents
---------------

Classes
~~~~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`iLQR <rofunc.planning_control.lqr.ilqr.iLQR>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR
          :summary:

API
~~~

.. py:class:: iLQR(cfg)
   :canonical: rofunc.planning_control.lqr.ilqr.iLQR

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR.__init__

   .. py:method:: logmap_2d(f, f0)
      :canonical: rofunc.planning_control.lqr.ilqr.iLQR.logmap_2d

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR.logmap_2d

   .. py:method:: fkin0(x)
      :canonical: rofunc.planning_control.lqr.ilqr.iLQR.fkin0

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR.fkin0

   .. py:method:: fk(x)
      :canonical: rofunc.planning_control.lqr.ilqr.iLQR.fk

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR.fk

   .. py:method:: Jacobian(x)
      :canonical: rofunc.planning_control.lqr.ilqr.iLQR.Jacobian

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR.Jacobian

   .. py:method:: f_reach(robot_state, Mu, Rot, specific_robot=None)
      :canonical: rofunc.planning_control.lqr.ilqr.iLQR.f_reach

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR.f_reach

   .. py:method:: get_matrices()
      :canonical: rofunc.planning_control.lqr.ilqr.iLQR.get_matrices

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR.get_matrices

   .. py:method:: set_dynamical_system()
      :canonical: rofunc.planning_control.lqr.ilqr.iLQR.set_dynamical_system

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR.set_dynamical_system

   .. py:method:: get_u_x(Mu: numpy.ndarray, Rot: numpy.ndarray, u: numpy.ndarray, x0: numpy.ndarray, Q: numpy.ndarray, R: numpy.ndarray, Su0: numpy.ndarray, Sx0: numpy.ndarray, idx: numpy.ndarray, tl: numpy.ndarray)
      :canonical: rofunc.planning_control.lqr.ilqr.iLQR.get_u_x

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR.get_u_x

   .. py:method:: solve(Mu, Rot, u0, x0, for_test=False)
      :canonical: rofunc.planning_control.lqr.ilqr.iLQR.solve

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR.solve

   .. py:method:: vis(Mu, Rot, x, tl, for_test)
      :canonical: rofunc.planning_control.lqr.ilqr.iLQR.vis

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr.iLQR.vis