rcognita.controllers.Controller3WRobotNIDisassembledCLF

class rcognita.controllers.Controller3WRobotNIDisassembledCLF(controller_gain=10, action_bounds=None, time_start=0, sampling_time=0.1)

Nominal parking controller for NI using disassembled supper_bound_constraintradients.

__init__(controller_gain=10, action_bounds=None, time_start=0, sampling_time=0.1)

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

Methods

__init__([controller_gain, action_bounds, …])	Initialize self.
compute_LF(observation)
compute_action(observation)	Same as compute_action(), but without invoking the internal clock.
compute_action_sampled(time, observation)	Compute sampled action.
reset(time_start)	Resets controller for use in multi-episode simulation.