.. _sphx_glr_examples_planning_control:

Planning and control methods
-----------------------------

The following are examples of planning and control methods that can be used to.


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    <div class="sphx-glr-thumbnails">


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR algorithm to track a bimanual trajectory.">

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  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_bi_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr_bi.py`

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      <div class="sphx-glr-thumbnail-title">Bimanual iLQR</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the LQT controller to track a trajectory.">

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  .. image:: /examples/planning_control/images/thumb/sphx_glr_plot_example_lqt_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_plot_example_lqt.py`

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      <div class="sphx-glr-thumbnail-title">LQT</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how a feedback LQT works.">

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  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_lqt_fb_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_lqt_fb.py`

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      <div class="sphx-glr-thumbnail-title">LQT feedback version</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the LQT controller with control primitives to track a trajectory.">

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  .. image:: /examples/planning_control/images/thumb/sphx_glr_plot_example_lqt_cp_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_plot_example_lqt_cp.py`

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      <div class="sphx-glr-thumbnail-title">LQT with control primitives</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the LQT controller with control primitives and DMP to track a tra...">

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  .. image:: /examples/planning_control/images/thumb/sphx_glr_plot_example_lqt_cp_dmp_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_plot_example_lqt_cp_dmp.py`

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      <div class="sphx-glr-thumbnail-title">LQT with control primitives and DMP</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR algorithm to track a trajectory in a 3-dimensional space...">

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  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr3d_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr3d.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">iLQR</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR algorithm to track a trajectory.">

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  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">iLQR</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR solver with control primitive.">

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  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_cp_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr_cp.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">iLQR control primitive version</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR solver with a CoM task.">

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  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_com_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr_com.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">iLQR with CoM</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR solver with dynamics model .">

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  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_dyna_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr_dyna.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">iLQR with dynamics</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR solver with obstacle avoidance.">

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  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_obstacle_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr_obstacle.py`

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      <div class="sphx-glr-thumbnail-title">iLQR with obstacle avoidance</div>
    </div>


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    </div>


.. toctree::
   :hidden:

   /examples/planning_control/example_ilqr_bi
   /examples/planning_control/plot_example_lqt
   /examples/planning_control/example_lqt_fb
   /examples/planning_control/plot_example_lqt_cp
   /examples/planning_control/plot_example_lqt_cp_dmp
   /examples/planning_control/example_ilqr3d
   /examples/planning_control/example_ilqr
   /examples/planning_control/example_ilqr_cp
   /examples/planning_control/example_ilqr_com
   /examples/planning_control/example_ilqr_dyna
   /examples/planning_control/example_ilqr_obstacle