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

.. py:module:: rofunc.planning_control.lqr.ilqr_dyna

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

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

Functions
~~~~~~~~~

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

   * - :py:obj:`forward_dynamics <rofunc.planning_control.lqr.ilqr_dyna.forward_dynamics>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_dyna.forward_dynamics
          :summary:
   * - :py:obj:`get_matrices <rofunc.planning_control.lqr.ilqr_dyna.get_matrices>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_dyna.get_matrices
          :summary:
   * - :py:obj:`get_u_x <rofunc.planning_control.lqr.ilqr_dyna.get_u_x>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_dyna.get_u_x
          :summary:
   * - :py:obj:`uni_dyna <rofunc.planning_control.lqr.ilqr_dyna.uni_dyna>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_dyna.uni_dyna
          :summary:
   * - :py:obj:`vis <rofunc.planning_control.lqr.ilqr_dyna.vis>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_dyna.vis
          :summary:

API
~~~

.. py:function:: forward_dynamics(cfg, x, u)
   :canonical: rofunc.planning_control.lqr.ilqr_dyna.forward_dynamics

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_dyna.forward_dynamics

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

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

.. py:function:: get_u_x(cfg: omegaconf.DictConfig, Mu: numpy.ndarray, Rot: numpy.ndarray, u: numpy.ndarray, x0: numpy.ndarray, v0: numpy.ndarray, Q: numpy.ndarray, R: numpy.ndarray, idx: numpy.ndarray, tl: numpy.ndarray)
   :canonical: rofunc.planning_control.lqr.ilqr_dyna.get_u_x

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

.. py:function:: uni_dyna(Mu, Rot, u0, x0, v0, cfg, for_test=False)
   :canonical: rofunc.planning_control.lqr.ilqr_dyna.uni_dyna

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_dyna.uni_dyna

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

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