:py:mod:`rofunc.planning_control.lqt.lqt`
=========================================

.. py:module:: rofunc.planning_control.lqt.lqt

.. autodoc2-docstring:: rofunc.planning_control.lqt.lqt
   :allowtitles:

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

Classes
~~~~~~~

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

   * - :py:obj:`LQT <rofunc.planning_control.lqt.lqt.LQT>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQT
          :summary:
   * - :py:obj:`LQTHierarchical <rofunc.planning_control.lqt.lqt.LQTHierarchical>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQTHierarchical
          :summary:
   * - :py:obj:`LQTBi <rofunc.planning_control.lqt.lqt.LQTBi>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQTBi
          :summary:

API
~~~

.. py:class:: LQT(all_points, cfg: omegaconf.DictConfig = None)
   :canonical: rofunc.planning_control.lqt.lqt.LQT

   .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQT

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQT.__init__

   .. py:method:: get_matrices()
      :canonical: rofunc.planning_control.lqt.lqt.LQT.get_matrices

      .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQT.get_matrices

   .. py:method:: set_dynamical_system()
      :canonical: rofunc.planning_control.lqt.lqt.LQT.set_dynamical_system

      .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQT.set_dynamical_system

   .. py:method:: get_u_x(mu: numpy.ndarray, Q: numpy.ndarray, R: numpy.ndarray, Su: numpy.ndarray, Sx: numpy.ndarray, **kwargs) -> typing.Tuple[numpy.ndarray, numpy.ndarray]
      :canonical: rofunc.planning_control.lqt.lqt.LQT.get_u_x

      .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQT.get_u_x

   .. py:method:: solve()
      :canonical: rofunc.planning_control.lqt.lqt.LQT.solve

      .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQT.solve

.. py:class:: LQTHierarchical(all_points: numpy.ndarray, cfg: omegaconf.DictConfig = None, interval: int = 3)
   :canonical: rofunc.planning_control.lqt.lqt.LQTHierarchical

   Bases: :py:obj:`rofunc.planning_control.lqt.lqt.LQT`

   .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQTHierarchical

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQTHierarchical.__init__

   .. py:method:: solve()
      :canonical: rofunc.planning_control.lqt.lqt.LQTHierarchical.solve

      .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQTHierarchical.solve

.. py:class:: LQTBi(all_points_l: numpy.ndarray, all_points_r: numpy.ndarray, cfg: omegaconf.DictConfig = None)
   :canonical: rofunc.planning_control.lqt.lqt.LQTBi

   Bases: :py:obj:`rofunc.planning_control.lqt.lqt.LQT`

   .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQTBi

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQTBi.__init__

   .. py:method:: solve()
      :canonical: rofunc.planning_control.lqt.lqt.LQTBi.solve

      .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt.LQTBi.solve