rcognita.controllers.CtrlNominal3WRobotNI

class rcognita.controllers.CtrlNominal3WRobotNI(ctrl_gain=10, ctrl_bnds=[], t0=0, sampling_time=0.1)

Nominal parking controller for NI using disassembled subgradients.

__init__(ctrl_gain=10, ctrl_bnds=[], t0=0, sampling_time=0.1)

Initialize self. See help(type(self)) for accurate signature.

Methods

__init__([ctrl_gain, ctrl_bnds, t0, …])	Initialize self.
compute_LF(observation)
compute_action(t, observation)	Compute sampled action.
compute_action_vanila(observation)	Same as compute_action(), but without invoking the internal clock.
reset(t0)	Resets controller for use in multi-episode simulation.