Index

A

AbstractController (class in simple_pendulum.controllers.abstract_controller) Actuators (class in simple_pendulum.model.parameters) Agent (class in simple_pendulum.reinforcement_learning.ddpg.agent)

ak80_6() (in module simple_pendulum.controllers.motor_control_loop) analyse_plant() (simple_pendulum.model.system_identification.SystemIdentification method) analytic_roa (class in simple_pendulum.controllers.lqr.analytic_roa_estimation.analytic_roa) append() (simple_pendulum.reinforcement_learning.ddpg.replay_buffer.ReplayBuffer method)

B

backward_pass() (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method)

benchmark() (simple_pendulum.analysis.benchmark.benchmarker method) benchmarker (class in simple_pendulum.analysis.benchmark)

C

calc_inertia() (simple_pendulum.model.parameters.Links method) calc_inertia_com() (simple_pendulum.model.parameters.Links method) calc_k_e() (simple_pendulum.model.parameters.Actuators method) calc_k_m() (simple_pendulum.model.parameters.Actuators method) calc_k_t_from_k_m() (simple_pendulum.model.parameters.Actuators method) calc_k_t_from_k_v() (simple_pendulum.model.parameters.Actuators method) calc_k_v() (simple_pendulum.model.parameters.Actuators method) calc_length_com() (simple_pendulum.model.parameters.Links method) calc_m_l() (simple_pendulum.model.parameters.Links method) CFRICS (simple_pendulum.model.unit_test.Test attribute) check_consistency() (simple_pendulum.analysis.benchmark.benchmarker method) check_final_condition() (simple_pendulum.simulation.gym_environment.SimplePendulumEnv method) check_reduced_torque_limit() (simple_pendulum.analysis.benchmark.benchmarker method)

check_regular_execution() (simple_pendulum.analysis.benchmark.benchmarker method) check_robustness() (simple_pendulum.analysis.benchmark.benchmarker method) check_sensitivity() (simple_pendulum.analysis.benchmark.benchmarker method) check_speed() (simple_pendulum.analysis.benchmark.benchmarker method) check_type() (in module simple_pendulum.trajectory_optimization.ilqr.pendulum) clear() (simple_pendulum.reinforcement_learning.ddpg.replay_buffer.ReplayBuffer method) close() (simple_pendulum.simulation.gym_environment.SimplePendulumEnv method) CombinedController (class in simple_pendulum.controllers.combined_controller) compute_final_cost_derivatives() (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) compute_initial_guess() (simple_pendulum.controllers.ilqr.iLQR_MPC_controller.iLQRMPCController method) compute_stage_cost_derivatives() (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) compute_trajectory() (simple_pendulum.trajectory_optimization.direct_collocation.direct_collocation.DirectCollocationCalculator method) cost_trj() (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) cut_trajectory() (in module simple_pendulum.utilities.process_data)

D

DAMPINGS (simple_pendulum.model.unit_test.Test attribute) data_dict_from_TXU() (in module simple_pendulum.utilities.process_data) data_filter() (in module simple_pendulum.utilities.filters.butterworth) (in module simple_pendulum.utilities.filters.running_mean) data_filter_realtime_1() (in module simple_pendulum.utilities.filters.running_mean) data_filter_realtime_2() (in module simple_pendulum.utilities.filters.running_mean)

ddpg_controller (class in simple_pendulum.controllers.ddpg.ddpg_controller) ddpg_trainer (class in simple_pendulum.reinforcement_learning.ddpg.ddpg) deg_to_rad() (in module simple_pendulum.utilities.unit_conversion) direct_sphere() (in module simple_pendulum.controllers.lqr.roa.utils) (in module simple_pendulum.controllers.tvlqr.roa.utils) DirectCollocationCalculator (class in simple_pendulum.trajectory_optimization.direct_collocation.direct_collocation) dlqr() (in module simple_pendulum.controllers.lqr.lqr)

E

EnergyShapingAndLQRController (class in simple_pendulum.controllers.energy_shaping.energy_shaping_controller) EnergyShapingController (class in simple_pendulum.controllers.energy_shaping.energy_shaping_controller) Environment (class in simple_pendulum.model.parameters) epsilon (simple_pendulum.controllers.energy_shaping.unit_test.Test attribute) (simple_pendulum.controllers.ilqr.unit_test.Test attribute) (simple_pendulum.controllers.lqr.unit_test.Test attribute) (simple_pendulum.model.unit_test.Test attribute) (simple_pendulum.trajectory_optimization.direct_collocation.unit_test.Test attribute) (simple_pendulum.trajectory_optimization.ilqr.unit_test.Test attribute)

errfunc_with_friction() (simple_pendulum.model.system_identification.SystemIdentification method) euler_integrator() (simple_pendulum.simulation.simulation.Simulator method) expected_cost_reduction() (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) extract_trajectory() (simple_pendulum.trajectory_optimization.direct_collocation.direct_collocation.DirectCollocationCalculator method)

F

fast_fourier_transform() (in module simple_pendulum.utilities.filters.fast_fourier_transform) filter_data() (simple_pendulum.model.system_identification.SystemIdentification method) forward_dynamics() (simple_pendulum.controllers.lqr.roa.utils.PendulumPlantApprox method) (simple_pendulum.model.pendulum_plant.PendulumPlant method)

forward_kinematics() (simple_pendulum.model.pendulum_plant.PendulumPlant method) forward_pass() (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) funnel2DComparison() (in module simple_pendulum.controllers.tvlqr.roa.plot)

G

gains() (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) GamePad (class in simple_pendulum.controllers.gamepad.gamepad) GamepadController (class in simple_pendulum.controllers.gamepad.gamepad_controller) get_action() (simple_pendulum.reinforcement_learning.ddpg.agent.Agent method) get_actor() (in module simple_pendulum.reinforcement_learning.ddpg.models) get_arrow() (in module simple_pendulum.simulation.simulation) get_control_output() (simple_pendulum.controllers.abstract_controller.AbstractController method) (simple_pendulum.controllers.combined_controller.CombinedController method) (simple_pendulum.controllers.ddpg.ddpg_controller.ddpg_controller method) (simple_pendulum.controllers.energy_shaping.energy_shaping_controller.EnergyShapingAndLQRController method) (simple_pendulum.controllers.energy_shaping.energy_shaping_controller.EnergyShapingController method) (simple_pendulum.controllers.gamepad.gamepad_controller.GamepadController method) (simple_pendulum.controllers.gravity_compensation.gravity_compensation.GravityCompController method) (simple_pendulum.controllers.ilqr.iLQR_MPC_controller.iLQRMPCController method) (simple_pendulum.controllers.lqr.lqr_controller.LQRController method) (simple_pendulum.controllers.open_loop.open_loop.OpenLoopAndLQRController method) (simple_pendulum.controllers.open_loop.open_loop.OpenLoopController method) (simple_pendulum.controllers.pid.pid.PIDController method) (simple_pendulum.controllers.sac.sac_controller.SacController method) (simple_pendulum.controllers.tvlqr.tvlqr.TVLQRController method) get_critic() (in module simple_pendulum.reinforcement_learning.ddpg.models) get_ellipse_params() (in module simple_pendulum.controllers.lqr.roa.plot) (in module simple_pendulum.controllers.tvlqr.roa.plot)

get_ellipse_patch() (in module simple_pendulum.controllers.lqr.roa.plot) (in module simple_pendulum.controllers.tvlqr.roa.plot) get_energy() (in module simple_pendulum.analysis.leaderboard) get_integrated_torque() (in module simple_pendulum.analysis.leaderboard) get_max_tau() (in module simple_pendulum.analysis.leaderboard) get_observation() (simple_pendulum.controllers.ddpg.ddpg_controller.ddpg_controller method) (simple_pendulum.controllers.sac.sac_controller.SacController method) (simple_pendulum.simulation.gym_environment.SimplePendulumEnv method) get_params() (in module simple_pendulum.model.parameters) get_state() (simple_pendulum.simulation.simulation.Simulator method) get_state_from_observation() (simple_pendulum.simulation.gym_environment.SimplePendulumEnv method) get_swingup_time() (in module simple_pendulum.analysis.leaderboard) (simple_pendulum.controllers.energy_shaping.energy_shaping_controller.EnergyShapingAndLQRController method) (simple_pendulum.controllers.gamepad.gamepad_controller.GamepadController method) get_tau_smoothness() (in module simple_pendulum.analysis.leaderboard) get_torque_cost() (in module simple_pendulum.analysis.leaderboard) getEllipseContour() (in module simple_pendulum.controllers.tvlqr.roa.utils) getEllipseFromCsv() (in module simple_pendulum.utilities.process_data) grav_comp() (in module simple_pendulum.utilities.plot) GRAVITY (simple_pendulum.model.unit_test.Test attribute) GravityCompController (class in simple_pendulum.controllers.gravity_compensation.gravity_compensation)

I

iLQR_Calculator (class in simple_pendulum.trajectory_optimization.ilqr.ilqr) (class in simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy) iLQRMPCController (class in simple_pendulum.controllers.ilqr.iLQR_MPC_controller) init() (simple_pendulum.controllers.abstract_controller.AbstractController method) (simple_pendulum.controllers.combined_controller.CombinedController method) (simple_pendulum.controllers.ilqr.iLQR_MPC_controller.iLQRMPCController method) (simple_pendulum.controllers.open_loop.open_loop.OpenLoopAndLQRController method) (simple_pendulum.controllers.open_loop.open_loop.OpenLoopController method) (simple_pendulum.controllers.pid.pid.PIDController method) (simple_pendulum.controllers.tvlqr.tvlqr.TVLQRController method) init_agent() (simple_pendulum.reinforcement_learning.ddpg.ddpg.ddpg_trainer method) (simple_pendulum.reinforcement_learning.sac.sac.sac_trainer method)

init_derivatives() (simple_pendulum.trajectory_optimization.ilqr.ilqr.iLQR_Calculator method) (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) init_environment() (simple_pendulum.reinforcement_learning.ddpg.ddpg.ddpg_trainer method) (simple_pendulum.reinforcement_learning.sac.sac.sac_trainer method) init_pendulum() (simple_pendulum.analysis.benchmark.benchmarker method) (simple_pendulum.reinforcement_learning.ddpg.ddpg.ddpg_trainer method) (simple_pendulum.reinforcement_learning.sac.sac.sac_trainer method) (simple_pendulum.trajectory_optimization.direct_collocation.direct_collocation.DirectCollocationCalculator method) inverse_dynamics() (simple_pendulum.model.pendulum_plant.PendulumPlant method) inverse_kinematics() (simple_pendulum.model.pendulum_plant.PendulumPlant method) is_goal() (simple_pendulum.simulation.gym_environment.SimplePendulumEnv method) iterations (simple_pendulum.model.unit_test.Test attribute)

J

Joints (class in simple_pendulum.model.parameters)

K

kinetic_energy() (simple_pendulum.model.pendulum_plant.PendulumPlant method)

L

leaderboard_scores() (in module simple_pendulum.analysis.leaderboard) LENGTHS (simple_pendulum.model.unit_test.Test attribute) Links (class in simple_pendulum.model.parameters) load() (simple_pendulum.reinforcement_learning.ddpg.ddpg.ddpg_trainer method) load_initial_guess() (simple_pendulum.controllers.ilqr.iLQR_MPC_controller.iLQRMPCController method)

load_model() (simple_pendulum.reinforcement_learning.ddpg.agent.Agent method) load_params_from_file() (simple_pendulum.model.pendulum_plant.PendulumPlant method) load_trajectory() (in module simple_pendulum.utilities.process_data) lqr() (in module simple_pendulum.controllers.lqr.lqr) LQRController (class in simple_pendulum.controllers.lqr.lqr_controller)

M

MASSES (simple_pendulum.model.unit_test.Test attribute) max_angle (simple_pendulum.model.unit_test.Test attribute) max_tau (simple_pendulum.model.unit_test.Test attribute) max_vel (simple_pendulum.model.unit_test.Test attribute) modify_pendulum_parameter() (in module simple_pendulum.analysis.benchmark) module simple_pendulum simple_pendulum.analysis simple_pendulum.analysis.benchmark simple_pendulum.analysis.leaderboard simple_pendulum.analysis.plot_policy simple_pendulum.controllers simple_pendulum.controllers.abstract_controller simple_pendulum.controllers.combined_controller simple_pendulum.controllers.ddpg simple_pendulum.controllers.ddpg.ddpg_controller simple_pendulum.controllers.energy_shaping simple_pendulum.controllers.energy_shaping.energy_shaping_controller simple_pendulum.controllers.energy_shaping.unit_test simple_pendulum.controllers.gamepad simple_pendulum.controllers.gamepad.gamepad simple_pendulum.controllers.gamepad.gamepad_controller simple_pendulum.controllers.gravity_compensation simple_pendulum.controllers.gravity_compensation.gravity_compensation simple_pendulum.controllers.ilqr simple_pendulum.controllers.ilqr.iLQR_MPC_controller simple_pendulum.controllers.ilqr.unit_test simple_pendulum.controllers.lqr simple_pendulum.controllers.lqr.analytic_roa_estimation simple_pendulum.controllers.lqr.analytic_roa_estimation.analytic_roa simple_pendulum.controllers.lqr.analytic_roa_estimation.najafi_oracle simple_pendulum.controllers.lqr.lqr simple_pendulum.controllers.lqr.lqr_controller simple_pendulum.controllers.lqr.roa simple_pendulum.controllers.lqr.roa.plot simple_pendulum.controllers.lqr.roa.sampling simple_pendulum.controllers.lqr.roa.sos simple_pendulum.controllers.lqr.roa.utils simple_pendulum.controllers.lqr.unit_test simple_pendulum.controllers.motor_control_loop simple_pendulum.controllers.open_loop simple_pendulum.controllers.open_loop.open_loop simple_pendulum.controllers.pid simple_pendulum.controllers.pid.pid simple_pendulum.controllers.sac simple_pendulum.controllers.sac.sac_controller simple_pendulum.controllers.tvlqr simple_pendulum.controllers.tvlqr.roa simple_pendulum.controllers.tvlqr.roa.plot simple_pendulum.controllers.tvlqr.roa.probabilistic simple_pendulum.controllers.tvlqr.roa.sos simple_pendulum.controllers.tvlqr.roa.utils simple_pendulum.controllers.tvlqr.tvlqr simple_pendulum.model simple_pendulum.model.parameters simple_pendulum.model.pendulum_plant simple_pendulum.model.system_identification simple_pendulum.model.unit_test simple_pendulum.reinforcement_learning simple_pendulum.reinforcement_learning.ddpg simple_pendulum.reinforcement_learning.ddpg.agent simple_pendulum.reinforcement_learning.ddpg.ddpg simple_pendulum.reinforcement_learning.ddpg.models simple_pendulum.reinforcement_learning.ddpg.noise simple_pendulum.reinforcement_learning.ddpg.replay_buffer simple_pendulum.reinforcement_learning.sac simple_pendulum.reinforcement_learning.sac.sac simple_pendulum.simulation simple_pendulum.simulation.gym_environment simple_pendulum.simulation.simulation simple_pendulum.trajectory_optimization simple_pendulum.trajectory_optimization.ddp simple_pendulum.trajectory_optimization.direct_collocation simple_pendulum.trajectory_optimization.direct_collocation.direct_collocation simple_pendulum.trajectory_optimization.direct_collocation.unit_test simple_pendulum.trajectory_optimization.ilqr simple_pendulum.trajectory_optimization.ilqr.ilqr simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy simple_pendulum.trajectory_optimization.ilqr.pendulum simple_pendulum.trajectory_optimization.ilqr.unit_test simple_pendulum.utilities simple_pendulum.utilities.filters simple_pendulum.utilities.filters.butterworth simple_pendulum.utilities.filters.fast_fourier_transform simple_pendulum.utilities.filters.low_pass simple_pendulum.utilities.filters.running_mean simple_pendulum.utilities.filters.savitzky_golay simple_pendulum.utilities.parse simple_pendulum.utilities.performance_profiler simple_pendulum.utilities.plot simple_pendulum.utilities.process_data simple_pendulum.utilities.unit_conversion

motor_send_n_commands() (in module simple_pendulum.utilities.performance_profiler) motor_speed_test() (in module simple_pendulum.utilities.performance_profiler)

N

najafi_based_sampling() (in module simple_pendulum.controllers.lqr.roa.sampling)

najafi_oracle (class in simple_pendulum.controllers.lqr.analytic_roa_estimation.najafi_oracle)

O

online_filter() (in module simple_pendulum.utilities.filters.low_pass) OpenLoopAndLQRController (class in simple_pendulum.controllers.open_loop.open_loop)

OpenLoopController (class in simple_pendulum.controllers.open_loop.open_loop) OUActionNoise (class in simple_pendulum.reinforcement_learning.ddpg.noise)

P

pendulum3_discrete_dynamics_euler() (in module simple_pendulum.trajectory_optimization.ilqr.pendulum) pendulum3_discrete_dynamics_rungekutta() (in module simple_pendulum.trajectory_optimization.ilqr.pendulum) pendulum3_swingup_final_cost() (in module simple_pendulum.trajectory_optimization.ilqr.pendulum) pendulum3_swingup_stage_cost() (in module simple_pendulum.trajectory_optimization.ilqr.pendulum) pendulum_continuous_dynamics() (in module simple_pendulum.trajectory_optimization.ilqr.pendulum) pendulum_discrete_dynamics_euler() (in module simple_pendulum.trajectory_optimization.ilqr.pendulum) pendulum_discrete_dynamics_rungekutta() (in module simple_pendulum.trajectory_optimization.ilqr.pendulum) pendulum_swingup_final_cost() (in module simple_pendulum.trajectory_optimization.ilqr.pendulum) pendulum_swingup_stage_cost() (in module simple_pendulum.trajectory_optimization.ilqr.pendulum) PendulumPlant (class in simple_pendulum.model.pendulum_plant) PendulumPlantApprox (class in simple_pendulum.controllers.lqr.roa.utils) PIDController (class in simple_pendulum.controllers.pid.pid)

plot_ellipse() (in module simple_pendulum.controllers.lqr.roa.plot) (in module simple_pendulum.controllers.tvlqr.roa.plot) plot_phase_space_trajectory() (simple_pendulum.trajectory_optimization.direct_collocation.direct_collocation.DirectCollocationCalculator method) plot_policy() (in module simple_pendulum.analysis.plot_policy) plotFirstLastEllipses() (in module simple_pendulum.controllers.tvlqr.roa.plot) plotFunnel() (in module simple_pendulum.controllers.tvlqr.roa.plot) plotFunnel3d() (in module simple_pendulum.controllers.tvlqr.roa.plot) plotRhoEvolution() (in module simple_pendulum.controllers.tvlqr.roa.plot) potential_energy() (simple_pendulum.model.pendulum_plant.PendulumPlant method) prep_state() (simple_pendulum.reinforcement_learning.ddpg.agent.Agent method) prepare_empty_data_dict() (in module simple_pendulum.utilities.process_data) profiler() (in module simple_pendulum.utilities.performance_profiler) projectedEllipseFromCostToGo() (in module simple_pendulum.controllers.tvlqr.roa.utils)

Q

Q_terms() (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) quad_form() (in module simple_pendulum.controllers.lqr.roa.utils) (in module simple_pendulum.controllers.tvlqr.roa.utils)

query() (simple_pendulum.controllers.lqr.analytic_roa_estimation.najafi_oracle.najafi_oracle method)

R

rad_to_deg() (in module simple_pendulum.utilities.unit_conversion) read() (simple_pendulum.controllers.gamepad.gamepad.GamePad method) record_data() (simple_pendulum.simulation.simulation.Simulator method) render() (simple_pendulum.simulation.gym_environment.SimplePendulumEnv method) ReplayBuffer (class in simple_pendulum.reinforcement_learning.ddpg.replay_buffer) reset() (simple_pendulum.reinforcement_learning.ddpg.noise.OUActionNoise method) (simple_pendulum.simulation.gym_environment.SimplePendulumEnv method) reset_data_recorder() (simple_pendulum.simulation.simulation.Simulator method) rhoComparison() (in module simple_pendulum.controllers.tvlqr.roa.plot)

rhoVerification() (in module simple_pendulum.controllers.lqr.roa.utils) rhs() (simple_pendulum.controllers.lqr.roa.utils.PendulumPlantApprox method) (simple_pendulum.model.pendulum_plant.PendulumPlant method) Robot (class in simple_pendulum.model.parameters) rollout() (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) rumble() (simple_pendulum.controllers.gamepad.gamepad.GamePad method) run_ilqr() (simple_pendulum.trajectory_optimization.ilqr.ilqr.iLQR_Calculator method) (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) runge_integrator() (simple_pendulum.simulation.simulation.Simulator method)

S

sac_trainer (class in simple_pendulum.reinforcement_learning.sac.sac) SacController (class in simple_pendulum.controllers.sac.sac_controller) sample_batch() (simple_pendulum.reinforcement_learning.ddpg.replay_buffer.ReplayBuffer method) sample_from_ellipsoid() (in module simple_pendulum.controllers.lqr.roa.utils) (in module simple_pendulum.controllers.tvlqr.roa.utils) satisfies_theory() (simple_pendulum.controllers.lqr.analytic_roa_estimation.analytic_roa.analytic_roa method) satisfies_theory_full() (simple_pendulum.controllers.lqr.analytic_roa_estimation.analytic_roa.analytic_roa method) save() (simple_pendulum.reinforcement_learning.ddpg.ddpg.ddpg_trainer method) save_model() (simple_pendulum.reinforcement_learning.ddpg.agent.Agent method) save_trajectory() (in module simple_pendulum.utilities.process_data) saveFunnel() (in module simple_pendulum.utilities.process_data) savitzky_golay_filter() (in module simple_pendulum.utilities.filters.savitzky_golay) scale_action() (simple_pendulum.reinforcement_learning.ddpg.agent.Agent method) scipy_fft() (in module simple_pendulum.utilities.filters.fast_fourier_transform) set_arrow_properties() (in module simple_pendulum.simulation.simulation) set_clip() (simple_pendulum.controllers.lqr.lqr_controller.LQRController method) set_controller() (simple_pendulum.analysis.benchmark.benchmarker method) set_discrete_dynamics() (simple_pendulum.trajectory_optimization.ilqr.ilqr.iLQR_Calculator method) (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) set_final_cost() (simple_pendulum.trajectory_optimization.ilqr.ilqr.iLQR_Calculator method) (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) set_goal() (simple_pendulum.controllers.abstract_controller.AbstractController method) (simple_pendulum.controllers.combined_controller.CombinedController method) (simple_pendulum.controllers.energy_shaping.energy_shaping_controller.EnergyShapingAndLQRController method) (simple_pendulum.controllers.energy_shaping.energy_shaping_controller.EnergyShapingController method) (simple_pendulum.controllers.ilqr.iLQR_MPC_controller.iLQRMPCController method) (simple_pendulum.controllers.lqr.lqr_controller.LQRController method) (simple_pendulum.controllers.open_loop.open_loop.OpenLoopAndLQRController method) (simple_pendulum.controllers.open_loop.open_loop.OpenLoopController method) (simple_pendulum.controllers.pid.pid.PIDController method) (simple_pendulum.controllers.tvlqr.tvlqr.TVLQRController method) set_initial_guess() (simple_pendulum.controllers.ilqr.iLQR_MPC_controller.iLQRMPCController method) set_Qf() (simple_pendulum.controllers.tvlqr.tvlqr.TVLQRController method) set_stage_cost() (simple_pendulum.trajectory_optimization.ilqr.ilqr.iLQR_Calculator method) (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) set_start() (simple_pendulum.trajectory_optimization.ilqr.ilqr.iLQR_Calculator method) (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method) set_state() (simple_pendulum.simulation.simulation.Simulator method) simple_pendulum module simple_pendulum.analysis module simple_pendulum.analysis.benchmark module simple_pendulum.analysis.leaderboard module simple_pendulum.analysis.plot_policy module simple_pendulum.controllers module simple_pendulum.controllers.abstract_controller module simple_pendulum.controllers.combined_controller module simple_pendulum.controllers.ddpg module simple_pendulum.controllers.ddpg.ddpg_controller module simple_pendulum.controllers.energy_shaping module simple_pendulum.controllers.energy_shaping.energy_shaping_controller module simple_pendulum.controllers.energy_shaping.unit_test module simple_pendulum.controllers.gamepad module simple_pendulum.controllers.gamepad.gamepad module simple_pendulum.controllers.gamepad.gamepad_controller module simple_pendulum.controllers.gravity_compensation module simple_pendulum.controllers.gravity_compensation.gravity_compensation module simple_pendulum.controllers.ilqr module simple_pendulum.controllers.ilqr.iLQR_MPC_controller module simple_pendulum.controllers.ilqr.unit_test module simple_pendulum.controllers.lqr module simple_pendulum.controllers.lqr.analytic_roa_estimation module simple_pendulum.controllers.lqr.analytic_roa_estimation.analytic_roa module simple_pendulum.controllers.lqr.analytic_roa_estimation.najafi_oracle module simple_pendulum.controllers.lqr.lqr module simple_pendulum.controllers.lqr.lqr_controller module simple_pendulum.controllers.lqr.roa module simple_pendulum.controllers.lqr.roa.plot module simple_pendulum.controllers.lqr.roa.sampling module simple_pendulum.controllers.lqr.roa.sos module simple_pendulum.controllers.lqr.roa.utils module simple_pendulum.controllers.lqr.unit_test module simple_pendulum.controllers.motor_control_loop module simple_pendulum.controllers.open_loop module simple_pendulum.controllers.open_loop.open_loop module simple_pendulum.controllers.pid module simple_pendulum.controllers.pid.pid module

simple_pendulum.controllers.sac module simple_pendulum.controllers.sac.sac_controller module simple_pendulum.controllers.tvlqr module simple_pendulum.controllers.tvlqr.roa module simple_pendulum.controllers.tvlqr.roa.plot module simple_pendulum.controllers.tvlqr.roa.probabilistic module simple_pendulum.controllers.tvlqr.roa.sos module simple_pendulum.controllers.tvlqr.roa.utils module simple_pendulum.controllers.tvlqr.tvlqr module simple_pendulum.model module simple_pendulum.model.parameters module simple_pendulum.model.pendulum_plant module simple_pendulum.model.system_identification module simple_pendulum.model.unit_test module simple_pendulum.reinforcement_learning module simple_pendulum.reinforcement_learning.ddpg module simple_pendulum.reinforcement_learning.ddpg.agent module simple_pendulum.reinforcement_learning.ddpg.ddpg module simple_pendulum.reinforcement_learning.ddpg.models module simple_pendulum.reinforcement_learning.ddpg.noise module simple_pendulum.reinforcement_learning.ddpg.replay_buffer module simple_pendulum.reinforcement_learning.sac module simple_pendulum.reinforcement_learning.sac.sac module simple_pendulum.simulation module simple_pendulum.simulation.gym_environment module simple_pendulum.simulation.simulation module simple_pendulum.trajectory_optimization module simple_pendulum.trajectory_optimization.ddp module simple_pendulum.trajectory_optimization.direct_collocation module simple_pendulum.trajectory_optimization.direct_collocation.direct_collocation module simple_pendulum.trajectory_optimization.direct_collocation.unit_test module simple_pendulum.trajectory_optimization.ilqr module simple_pendulum.trajectory_optimization.ilqr.ilqr module simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy module simple_pendulum.trajectory_optimization.ilqr.pendulum module simple_pendulum.trajectory_optimization.ilqr.unit_test module simple_pendulum.utilities module simple_pendulum.utilities.filters module simple_pendulum.utilities.filters.butterworth module simple_pendulum.utilities.filters.fast_fourier_transform module simple_pendulum.utilities.filters.low_pass module simple_pendulum.utilities.filters.running_mean module simple_pendulum.utilities.filters.savitzky_golay module simple_pendulum.utilities.parse module simple_pendulum.utilities.performance_profiler module simple_pendulum.utilities.plot module simple_pendulum.utilities.process_data module simple_pendulum.utilities.unit_conversion module SimplePendulumEnv (class in simple_pendulum.simulation.gym_environment) simulate() (simple_pendulum.simulation.simulation.Simulator method) simulate_and_animate() (simple_pendulum.simulation.simulation.Simulator method) Simulator (class in simple_pendulum.simulation.simulation) SOSequalityConstrained() (in module simple_pendulum.controllers.lqr.roa.sos) SOSlineSearch() (in module simple_pendulum.controllers.lqr.roa.sos) step() (simple_pendulum.simulation.gym_environment.SimplePendulumEnv method) (simple_pendulum.simulation.simulation.Simulator method) stop_rumble() (simple_pendulum.controllers.gamepad.gamepad.GamePad method) swingup() (in module simple_pendulum.utilities.plot) swingup_reward() (simple_pendulum.simulation.gym_environment.SimplePendulumEnv method) syntax() (in module simple_pendulum.utilities.parse) sys_id_comparison() (in module simple_pendulum.utilities.plot) sys_id_result() (in module simple_pendulum.utilities.plot) sys_id_unified() (in module simple_pendulum.utilities.plot) SystemIdentification (class in simple_pendulum.model.system_identification)

T

Test (class in simple_pendulum.controllers.energy_shaping.unit_test) (class in simple_pendulum.controllers.ilqr.unit_test) (class in simple_pendulum.controllers.lqr.unit_test) (class in simple_pendulum.model.unit_test) (class in simple_pendulum.trajectory_optimization.direct_collocation.unit_test) (class in simple_pendulum.trajectory_optimization.ilqr.unit_test) test_0_direct_collocation() (simple_pendulum.trajectory_optimization.direct_collocation.unit_test.Test method) test_0_energy_shaping_swingup() (simple_pendulum.controllers.energy_shaping.unit_test.Test method) test_0_iLQR_computation_nx2() (simple_pendulum.trajectory_optimization.ilqr.unit_test.Test method) test_0_iLQR_computation_nx2_sympy() (simple_pendulum.trajectory_optimization.ilqr.unit_test.Test method) test_0_iLQR_computation_nx3() (simple_pendulum.trajectory_optimization.ilqr.unit_test.Test method) test_0_iLQR_computation_nx3_sympy() (simple_pendulum.trajectory_optimization.ilqr.unit_test.Test method) test_0_iLQR_MPC_swingup_nx2() (simple_pendulum.controllers.ilqr.unit_test.Test method) test_0_kinematics() (simple_pendulum.model.unit_test.Test method) test_0_LQR_stabilization() (simple_pendulum.controllers.lqr.unit_test.Test method)

test_1_dynamics() (simple_pendulum.model.unit_test.Test method) test_1_iLQR_MPC_swingup_nx3() (simple_pendulum.controllers.ilqr.unit_test.Test method) TLIMITS (simple_pendulum.model.unit_test.Test attribute) total_energy() (simple_pendulum.model.pendulum_plant.PendulumPlant method) train() (simple_pendulum.reinforcement_learning.ddpg.ddpg.ddpg_trainer method) (simple_pendulum.reinforcement_learning.sac.sac.sac_trainer method) train_on() (simple_pendulum.reinforcement_learning.ddpg.agent.Agent method) transform() (in module simple_pendulum.controllers.lqr.analytic_roa_estimation.analytic_roa) tstar() (simple_pendulum.controllers.lqr.analytic_roa_estimation.analytic_roa.analytic_roa method) TVLQRController (class in simple_pendulum.controllers.tvlqr.tvlqr) TVmultSearch() (in module simple_pendulum.controllers.tvlqr.roa.utils) TVprobRhoComputation() (in module simple_pendulum.controllers.tvlqr.roa.probabilistic) TVrhoSearch() (in module simple_pendulum.controllers.tvlqr.roa.utils) TVrhoVerification() (in module simple_pendulum.controllers.tvlqr.roa.plot) TVsosRhoComputation() (in module simple_pendulum.controllers.tvlqr.roa.sos)

U

u() (simple_pendulum.controllers.lqr.analytic_roa_estimation.analytic_roa.analytic_roa method)

update_target_weights() (simple_pendulum.reinforcement_learning.ddpg.agent.Agent method)

V

V_terms() (simple_pendulum.trajectory_optimization.ilqr.ilqr_sympy.iLQR_Calculator method)

validation_criterion() (simple_pendulum.simulation.gym_environment.SimplePendulumEnv method) vol_ellipsoid() (in module simple_pendulum.controllers.lqr.roa.utils)