rofunc.planning_control.lqt.lqt_cp

Contents

`rofunc.planning_control.lqt.lqt_cp`#

Linear Quadratic tracker with control primitives applied on a via-point example

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

1. Module Contents#

1.1. Classes#

1.2. API#

class rofunc.planning_control.lqt.lqt_cp.LQTCP(all_points, cfg: omegaconf.DictConfig = None)[source]#

Bases: rofunc.planning_control.lqt.lqt.LQT

Initialization

define_control_primitive()[source]#

set_dynamical_system()[source]#

get_u_x(mu: numpy.ndarray, Q: numpy.ndarray, R: numpy.ndarray, Su: numpy.ndarray, Sx: numpy.ndarray, PSI: numpy.ndarray = None) → Tuple[numpy.ndarray, numpy.ndarray][source]#

solve()[source]#

vis(x_hat, u_hat, muQ, idx_slices, tl, phi)[source]#