:py:mod:`rofunc.planning_control.lqr.ilqr_3d`
=============================================

.. py:module:: rofunc.planning_control.lqr.ilqr_3d

.. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d
   :allowtitles:

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

Classes
~~~~~~~

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

   * - :py:obj:`iLQR_3D <rofunc.planning_control.lqr.ilqr_3d.iLQR_3D>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D
          :summary:

Data
~~~~

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

   * - :py:obj:`kin <rofunc.planning_control.lqr.ilqr_3d.kin>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.kin
          :summary:

API
~~~

.. py:data:: kin
   :canonical: rofunc.planning_control.lqr.ilqr_3d.kin
   :value: None

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.kin

.. py:class:: iLQR_3D(cgf)
   :canonical: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.__init__

   .. py:method:: fkin(x)
      :canonical: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.fkin

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.fkin

   .. py:method:: error(f, f0)
      :canonical: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.error

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.error

   .. py:method:: Jacobian(x)
      :canonical: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.Jacobian

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.Jacobian

   .. py:method:: f_reach(robot_state, Mu, Rot, specific_robot=None)
      :canonical: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.f_reach

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.f_reach

   .. py:method:: get_matrices()
      :canonical: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.get_matrices

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.get_matrices

   .. py:method:: set_dynamical_system()
      :canonical: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.set_dynamical_system

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.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_3d.iLQR_3D.get_u_x

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.get_u_x

   .. py:method:: solve(Mu, Rot, u0, x0, for_test=False)
      :canonical: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.solve

      .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_3d.iLQR_3D.solve