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

.. py:module:: rofunc.planning_control.lqr.ilqr_cp

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

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

Functions
~~~~~~~~~

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

   * - :py:obj:`get_u_x <rofunc.planning_control.lqr.ilqr_cp.get_u_x>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_cp.get_u_x
          :summary:
   * - :py:obj:`uni_cp <rofunc.planning_control.lqr.ilqr_cp.uni_cp>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_cp.uni_cp
          :summary:
   * - :py:obj:`vis <rofunc.planning_control.lqr.ilqr_cp.vis>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_cp.vis
          :summary:

API
~~~

.. py:function:: get_u_x(cfg: omegaconf.DictConfig, 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, PSI)
   :canonical: rofunc.planning_control.lqr.ilqr_cp.get_u_x

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

.. py:function:: uni_cp(Mu, Rot, u0, x0, cfg, for_test=False)
   :canonical: rofunc.planning_control.lqr.ilqr_cp.uni_cp

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_cp.uni_cp

.. py:function:: vis(cfg, u, x, Mu, Rot, tl, phi, for_test)
   :canonical: rofunc.planning_control.lqr.ilqr_cp.vis

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