.. DO NOT EDIT.
.. THIS FILE WAS AUTOMATICALLY GENERATED BY SPHINX-GALLERY.
.. TO MAKE CHANGES, EDIT THE SOURCE PYTHON FILE:
.. "examples/planning_control/example_ilqr_cp.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_cp.py>`
        to download the full example code

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

.. _sphx_glr_examples_planning_control_example_ilqr_cp.py:


iLQR control primitive version
==============================

This example shows how to use the iLQR solver with control primitive.

.. GENERATED FROM PYTHON SOURCE LINES 7-30

.. code-block:: default


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

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

    # Via-points
    Mu = np.array([[2, 1, -np.pi / 2], [3, 1, -np.pi / 2]])  # Via-points
    Rot = np.zeros([2, 2, cfg.nbPoints])  # Object orientation matrices

    # Object rotation matrices
    for t in range(cfg.nbPoints):
        orn_t = Mu[t, -1]
        Rot[t] = np.asarray([
            [np.cos(orn_t), -np.sin(orn_t)],
            [np.sin(orn_t), np.cos(orn_t)]
        ])

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

    rf.lqr.uni_cp(Mu, Rot, 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_cp.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_cp.py <example_ilqr_cp.py>`

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

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


.. only:: html

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

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