Implementation of iLQR, following this.
You'll need ipopt install in the same directory to run this code -- alternatively, you can modify the ipopt_executable path.
c
ilqr
public
1 stars
1 forks
0 issues
Commits
List of commits on branch master.Unverified
2563a9be8b827d73ea5e1f2c175088f295fc5818Fixed a few constants
ccannontwo committed 6 years ago
Unverified
5b7377e674c77b163de6e35264d776f99456384bImplemented simple constrained QP solving with Pyomo
ccannontwo committed 6 years ago
Unverified
37ba43902b3653b13a559a03ba4a48442265a931Finished implemnting iLQR for the inverted pendulum! It works to some degree, but I still need to implement the clipping constrained sub-QP solver
ccannontwo committed 6 years ago
Unverified
2cd741e80cf3be40b772673970a7c5046b52c75fImproved iLQR flow
ccannontwo committed 6 years ago
Unverified
44b3b6ab3fce819408861cc6cc987d88be2cd7c0Started implementing iLQR
ccannontwo committed 6 years ago
Unverified
463ba3ffe80617f592e082dfa254590f0ce682b8Implemented helper functions for local linear-quadratic model of inverted pendulum
ccannontwo committed 6 years ago