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

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

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

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

Classes
~~~~~~~

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

   * - :py:obj:`LQTCP <rofunc.planning_control.lqt.lqt_cp.LQTCP>`
     - .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt_cp.LQTCP
          :summary:

API
~~~

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

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

   .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt_cp.LQTCP

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt_cp.LQTCP.__init__

   .. py:method:: define_control_primitive()
      :canonical: rofunc.planning_control.lqt.lqt_cp.LQTCP.define_control_primitive

      .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt_cp.LQTCP.define_control_primitive

   .. py:method:: set_dynamical_system()
      :canonical: rofunc.planning_control.lqt.lqt_cp.LQTCP.set_dynamical_system

      .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt_cp.LQTCP.set_dynamical_system

   .. py:method:: get_u_x(mu: numpy.ndarray, Q: numpy.ndarray, R: numpy.ndarray, Su: numpy.ndarray, Sx: numpy.ndarray, PSI: numpy.ndarray = None) -> typing.Tuple[numpy.ndarray, numpy.ndarray]
      :canonical: rofunc.planning_control.lqt.lqt_cp.LQTCP.get_u_x

      .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt_cp.LQTCP.get_u_x

   .. py:method:: solve()
      :canonical: rofunc.planning_control.lqt.lqt_cp.LQTCP.solve

      .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt_cp.LQTCP.solve

   .. py:method:: vis(x_hat, u_hat, muQ, idx_slices, tl, phi)
      :canonical: rofunc.planning_control.lqt.lqt_cp.LQTCP.vis

      .. autodoc2-docstring:: rofunc.planning_control.lqt.lqt_cp.LQTCP.vis