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

.. py:module:: rofunc.planning_control.lqr.ilqr_obstacle

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

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

Functions
~~~~~~~~~

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

   * - :py:obj:`f_reach <rofunc.planning_control.lqr.ilqr_obstacle.f_reach>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_obstacle.f_reach
          :summary:
   * - :py:obj:`f_avoid <rofunc.planning_control.lqr.ilqr_obstacle.f_avoid>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_obstacle.f_avoid
          :summary:
   * - :py:obj:`get_u_x <rofunc.planning_control.lqr.ilqr_obstacle.get_u_x>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_obstacle.get_u_x
          :summary:
   * - :py:obj:`uni_obstacle <rofunc.planning_control.lqr.ilqr_obstacle.uni_obstacle>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_obstacle.uni_obstacle
          :summary:
   * - :py:obj:`vis <rofunc.planning_control.lqr.ilqr_obstacle.vis>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_obstacle.vis
          :summary:

API
~~~

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

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

.. py:function:: f_avoid(cfg, x, Obst, U_obst)
   :canonical: rofunc.planning_control.lqr.ilqr_obstacle.f_avoid

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_obstacle.f_avoid

.. py:function:: get_u_x(cfg: omegaconf.DictConfig, Mu: numpy.ndarray, Obst: numpy.ndarray, U_obst: numpy.ndarray, u: numpy.ndarray, x0: numpy.ndarray, R: numpy.ndarray, Su0: numpy.ndarray, Sx0: numpy.ndarray, idx: numpy.ndarray, tl: numpy.ndarray)
   :canonical: rofunc.planning_control.lqr.ilqr_obstacle.get_u_x

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

.. py:function:: uni_obstacle(Mu, Obst, S_obst, U_obst, u0, x0, cfg, for_test=False)
   :canonical: rofunc.planning_control.lqr.ilqr_obstacle.uni_obstacle

   .. autodoc2-docstring:: rofunc.planning_control.lqr.ilqr_obstacle.uni_obstacle

.. py:function:: vis(cfg, x, Mu, Obst, S_obst, for_test)
   :canonical: rofunc.planning_control.lqr.ilqr_obstacle.vis

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