ocp Namespace Reference

Classes
class	CallBack

Functions
def	cost (U)
def	display (U, verbose=False)

Variables
	approx_grad
tuple	bounds
	c
	callback = CallBack()
	cost
	env = Pendulum(1)
	info
int	NSTEPS = 50
	True
	U
	U0 = np.zeros(NSTEPS * env.nu) - env.umax
	— OCP resolution More...
	x0 = env.reset().copy()

Detailed Description

Example of optimal control resolution by direct optimization of a single trajectory.

Function Documentation

cost()

def ocp.cost

(

U

)

Cost for a trajectory starting at state X0 with control U

Definition at line 18 of file ocp.py.

display()

def ocp.display	(		U,
			verbose = False
	)

Display the trajectory on Gepetto viewer.

Definition at line 29 of file ocp.py.

Variable Documentation

approx_grad

ocp.approx_grad

Definition at line 81 of file ocp.py.

bounds

ocp.bounds

Initial value:

=  (
    [
        [-env.umax, env.umax],
    ]
    * env.nu
    * NSTEPS
)

Definition at line 71 of file ocp.py.

c

ocp.c

Definition at line 80 of file ocp.py.

callback

ocp.callback = CallBack()

Definition at line 66 of file ocp.py.

cost

ocp.cost

Definition at line 81 of file ocp.py.

env

ocp.env = Pendulum(1)

Definition at line 13 of file ocp.py.

info

ocp.info

Definition at line 80 of file ocp.py.

NSTEPS

int ocp.NSTEPS = 50

Definition at line 14 of file ocp.py.

True

ocp.True

Definition at line 81 of file ocp.py.

U

ocp.U

Definition at line 80 of file ocp.py.

U0

ocp.U0 = np.zeros(NSTEPS * env.nu) - env.umax

— OCP resolution

Definition at line 70 of file ocp.py.

x0

ocp.x0 = env.reset().copy()

Definition at line 15 of file ocp.py.