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

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

.. _sphx_glr_examples_planning_control_plot_example_lqt_cp.py:


LQT with control primitives
===========================

This example shows how to use the LQT controller with control primitives to track a trajectory.

.. GENERATED FROM PYTHON SOURCE LINES 7-22


.. rst-class:: sphx-glr-script-out

.. code-block:: pytb

    Traceback (most recent call last):
      File "/home/docs/checkouts/readthedocs.org/user_builds/rofunc/checkouts/stable/examples/planning_control/plot_example_lqt_cp.py", line 12, in <module>
        via_points_raw = np.load('../data/LQT_LQR/taichi_1l.npy')
      File "/home/docs/checkouts/readthedocs.org/user_builds/rofunc/envs/stable/lib/python3.8/site-packages/numpy/lib/npyio.py", line 417, in load
        fid = stack.enter_context(open(os_fspath(file), "rb"))
    FileNotFoundError: [Errno 2] No such file or directory: '../data/LQT_LQR/taichi_1l.npy'






|

.. code-block:: default


    import os
    import numpy as np
    import rofunc as rf

    via_points_raw = np.load('../data/LQT_LQR/taichi_1l.npy')
    filter_indices = [i for i in range(0, len(via_points_raw) - 10, 5)]
    filter_indices.append(len(via_points_raw) - 1)
    via_points_raw = via_points_raw[filter_indices]

    cfg = rf.config.utils.get_config("./planning", "lqt_cp")

    controller = rf.planning_control.lqt.lqt_cp.LQTCP(via_points_raw, cfg)
    u_hat, x_hat, mu, idx_slices = controller.solve()
    rf.lqt.plot_3d_uni([x_hat], mu, idx_slices)


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

   **Total running time of the script:** (0 minutes 0.001 seconds)


.. _sphx_glr_download_examples_planning_control_plot_example_lqt_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: plot_example_lqt_cp.py <plot_example_lqt_cp.py>`

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

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


.. only:: html

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

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