rofunc.planning_control.lqt.lqt_fb

Contents

`rofunc.planning_control.lqt.lqt_fb`#

LQT computed in a recursive way (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_fb.LQTFb(all_points, cfg: omegaconf.DictConfig = None)[source]#

Bases: rofunc.planning_control.lqt.lqt.LQT

Initialization

get_matrices()[source]#

set_dynamical_system()[source]#

get_u_x(P: numpy.ndarray, R: numpy.ndarray, A: numpy.ndarray, B: numpy.ndarray, state_noise: numpy.ndarray)[source]#

solve(state_noise, for_test=False)[source]#

vis(x_hat, for_test)[source]#

vis3d(x_hat, for_test)[source]#