double_pendulum.controller.mcpilco

Submodules

double_pendulum.controller.mcpilco.mcpilco_controller

class double_pendulum.controller.mcpilco.mcpilco_controller.Controller_muli_out_sum_of_Gaussians_with_angles_numpy(parameters, ctrl_rate, u_max=None, num_dof=2, controlled_dof=None, wait_steps=0)

Bases: AbstractController

get_control_output_(x, t=None)

The function to compute the control input for the double pendulum’s actuator(s). Supposed to be overwritten by actual controllers. The API of this method should not be changed. Unused inputs/outputs can be set to None.

Parameters:

xarray_like, shape=(4,), dtype=float,

state of the double pendulum, order=[angle1, angle2, velocity1, velocity2], units=[rad, rad, rad/s, rad/s]

tfloat, optional

time, unit=[s] (Default value=None)

Returns:

array_like

shape=(2,), dtype=float actuation input/motor torque, order=[u1, u2], units=[Nm]

get_np_policy(ret_dict=False)

class double_pendulum.controller.mcpilco.mcpilco_controller.Controller_multi_policy_sum_of_gaussians_with_angles_numpy(parameters_list, ctrl_rate, u_max=[5.0], num_dof=2, controlled_dof=None, active_pos_list=None, active_vel_list=None, wait_steps=0)

Bases: AbstractController

get_control_output_(x, t=None)

The function to compute the control input for the double pendulum’s actuator(s). Supposed to be overwritten by actual controllers. The API of this method should not be changed. Unused inputs/outputs can be set to None.

Parameters:

xarray_like, shape=(4,), dtype=float,

state of the double pendulum, order=[angle1, angle2, velocity1, velocity2], units=[rad, rad, rad/s, rad/s]

tfloat, optional

time, unit=[s] (Default value=None)

Returns:

array_like

shape=(2,), dtype=float actuation input/motor torque, order=[u1, u2], units=[Nm]

get_np_policy(ret_dict=False)

class double_pendulum.controller.mcpilco.mcpilco_controller.Controller_sum_of_Gaussians_with_angles_numpy(parameters, ctrl_rate, u_max=6, num_dof=2, controlled_dof=None, wait_steps=0)

Bases: AbstractController

get_control_output_(x, t)

The function to compute the control input for the double pendulum’s actuator(s). Supposed to be overwritten by actual controllers. The API of this method should not be changed. Unused inputs/outputs can be set to None.

Parameters:

xarray_like, shape=(4,), dtype=float,

state of the double pendulum, order=[angle1, angle2, velocity1, velocity2], units=[rad, rad, rad/s, rad/s]

tfloat, optional

time, unit=[s] (Default value=None)

Returns:

array_like

shape=(2,), dtype=float actuation input/motor torque, order=[u1, u2], units=[Nm]