rofunc.planning_control.lqr.ilqr#

iLQR for a viapoints task (batch formulation)

Refers to https://gitlab.idiap.ch/rli/robotics-codes-from-scratch by Dr. Sylvain Calinon

1.  Module Contents#

1.1.  Classes#

iLQR

1.2.  API#

class rofunc.planning_control.lqr.ilqr.iLQR(cfg)[source]#

Initialization

logmap_2d(f, f0)[source]#
fkin0(x)[source]#
fk(x)[source]#

Forward kinematics for end-effector (in robot coordinate system) $f(x_t) = x_t$

Jacobian(x)[source]#

Jacobian with analytical computation (for single time step) $J(x_t)= dfrac{partial{f(x_t)}}{partial{x_t}}$

f_reach(robot_state, Mu, Rot, specific_robot=None)[source]#

Error and Jacobian for a via-points reaching task (in object coordinate system) Args:

cfg: robot_state: joint state or Cartesian pose

Returns:

get_matrices()[source]#
set_dynamical_system()[source]#
get_u_x(Mu: numpy.ndarray, Rot: numpy.ndarray, u: numpy.ndarray, x0: numpy.ndarray, Q: numpy.ndarray, R: numpy.ndarray, Su0: numpy.ndarray, Sx0: numpy.ndarray, idx: numpy.ndarray, tl: numpy.ndarray)[source]#
solve(Mu, Rot, u0, x0, for_test=False)[source]#
vis(Mu, Rot, x, tl, for_test)[source]#