.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "examples/planning_control/example_ilqr_com.py"
.. LINE NUMBERS ARE GIVEN BELOW.

.. only:: html

    .. note::
        :class: sphx-glr-download-link-note

        :ref:`Go to the end <sphx_glr_download_examples_planning_control_example_ilqr_com.py>`
        to download the full example code

.. rst-class:: sphx-glr-example-title

.. _sphx_glr_examples_planning_control_example_ilqr_com.py:


iLQR with CoM
=============

This example shows how to use the iLQR solver with a CoM task.

.. GENERATED FROM PYTHON SOURCE LINES 7-22

.. code-block:: default


    import rofunc as rf
    import numpy as np
    from rofunc.config.utils import get_config

    cfg = get_config('./planning', 'ilqr_com')

    Mu = np.asarray([3.5, 4])  # Target
    MuCoM = np.asarray([.4, 0])

    u0 = np.zeros(cfg.nbVarU * (cfg.nbData - 1))  # Initial control command
    a = .7
    x0 = np.array([np.pi / 2 - a, 2 * a, - a, np.pi - np.pi / 4, 3 * np.pi / 4])  # Initial state (in joint space)

    rf.lqr.uni_com(Mu, MuCoM, u0, x0, cfg)


.. rst-class:: sphx-glr-timing

   **Total running time of the script:** (0 minutes 0.000 seconds)


.. _sphx_glr_download_examples_planning_control_example_ilqr_com.py:

.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-example




    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download Python source code: example_ilqr_com.py <example_ilqr_com.py>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download Jupyter notebook: example_ilqr_com.ipynb <example_ilqr_com.ipynb>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_