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

.. py:module:: rofunc.planning_control.lqr.ilqr_bi

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

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

Functions
~~~~~~~~~

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

   * - :py:obj:`fkin <rofunc.planning_control.lqr.ilqr_bi.fkin>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.fkin
          :summary:
   * - :py:obj:`fkin0 <rofunc.planning_control.lqr.ilqr_bi.fkin0>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.fkin0
          :summary:
   * - :py:obj:`f_reach <rofunc.planning_control.lqr.ilqr_bi.f_reach>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.f_reach
          :summary:
   * - :py:obj:`Jkin <rofunc.planning_control.lqr.ilqr_bi.Jkin>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.Jkin
          :summary:
   * - :py:obj:`f_reach_CoM <rofunc.planning_control.lqr.ilqr_bi.f_reach_CoM>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.f_reach_CoM
          :summary:
   * - :py:obj:`fkin_CoM <rofunc.planning_control.lqr.ilqr_bi.fkin_CoM>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.fkin_CoM
          :summary:
   * - :py:obj:`Jkin_CoM <rofunc.planning_control.lqr.ilqr_bi.Jkin_CoM>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.Jkin_CoM
          :summary:
   * - :py:obj:`get_matrices <rofunc.planning_control.lqr.ilqr_bi.get_matrices>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.get_matrices
          :summary:
   * - :py:obj:`get_u_x <rofunc.planning_control.lqr.ilqr_bi.get_u_x>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.get_u_x
          :summary:
   * - :py:obj:`uni_bi <rofunc.planning_control.lqr.ilqr_bi.uni_bi>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.uni_bi
          :summary:
   * - :py:obj:`vis <rofunc.planning_control.lqr.ilqr_bi.vis>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.vis
          :summary:

API
~~~

.. py:function:: fkin(cfg, x)
   :canonical: rofunc.planning_control.lqr.ilqr_bi.fkin

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.fkin

.. py:function:: fkin0(cfg, x)
   :canonical: rofunc.planning_control.lqr.ilqr_bi.fkin0

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.fkin0

.. py:function:: f_reach(cfg, x, Mu)
   :canonical: rofunc.planning_control.lqr.ilqr_bi.f_reach

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.f_reach

.. py:function:: Jkin(cfg, x)
   :canonical: rofunc.planning_control.lqr.ilqr_bi.Jkin

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.Jkin

.. py:function:: f_reach_CoM(cfg, x, MuCoM)
   :canonical: rofunc.planning_control.lqr.ilqr_bi.f_reach_CoM

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.f_reach_CoM

.. py:function:: fkin_CoM(cfg, x)
   :canonical: rofunc.planning_control.lqr.ilqr_bi.fkin_CoM

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.fkin_CoM

.. py:function:: Jkin_CoM(cfg, x)
   :canonical: rofunc.planning_control.lqr.ilqr_bi.Jkin_CoM

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.Jkin_CoM

.. py:function:: get_matrices(cfg: omegaconf.DictConfig)
   :canonical: rofunc.planning_control.lqr.ilqr_bi.get_matrices

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.get_matrices

.. py:function:: get_u_x(cfg: omegaconf.DictConfig, Mu: numpy.ndarray, MuCoM: numpy.ndarray, u: numpy.ndarray, x0: numpy.ndarray, Q: numpy.ndarray, Qc: numpy.ndarray, R: numpy.ndarray, Su0: numpy.ndarray, Sx0: numpy.ndarray, idx: numpy.ndarray, tl: numpy.ndarray)
   :canonical: rofunc.planning_control.lqr.ilqr_bi.get_u_x

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.get_u_x

.. py:function:: uni_bi(Mu, MuCoM, u0, x0, cfg, for_test=False)
   :canonical: rofunc.planning_control.lqr.ilqr_bi.uni_bi

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.uni_bi

.. py:function:: vis(cfg, x, Mu, MuCoM, tl, for_test)
   :canonical: rofunc.planning_control.lqr.ilqr_bi.vis

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_bi.vis