momentumopt.kinoptpy.lqr_gain_computation.centroidal_lqr Class Reference

Public Member Functions
def	__init__ (self, dir)
def	compute_dyn (self, t, x_t, u_t)
def	compute_lin_dyn (self, t)
def	analytical_lin_dyn (self, t)
def	descretise_dynamics (self, lin_A_t, lin_B_t)
def	compute_lqr_gains (self, Q, R, lin_A_t, lin_B_t, P_prev)
def	lqr_backward_pass (self, Q, R)
def	store_lqr_gains (self, K_array)

Public Attributes
	dir
	com_pos
	com_vel
	com_ori
	com_ang_vel
	cent_force
	cent_moments
	delta
	dt
	mass
	inertia_com_frame
	A_t
	quat_d = omega * quat
	B_t

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The documentation for this class was generated from the following file:

• python/momentumopt/kinoptpy/lqr_gain_computation.py