deluca.agents.LQR

class deluca.agents.LQR(*args, **kwargs)

Public Data Attributes:

Inherited from JaxObject

name
attrs

Public Methods:

__init__(A, B[, Q, R])	Description: Initialize the infinite-time horizon LQR.
__call__(state)	Description: Return the action based on current state and internal parameters.

Inherited from Agent

__init_subclass__(*args, **kwargs)	For avoiding a decorator for each subclass
__call__(state)	Description: Return the action based on current state and internal parameters.
reset()
feed(reward)

Inherited from JaxObject

__new__(cls, *args, **kwargs)	For avoiding super().__init__()
__init_subclass__(*args, **kwargs)	For avoiding a decorator for each subclass
__str__()	Return str(self).
__setattr__(key, val)	Implement setattr(self, name, value).
save(path)
load(path)
throw(err, msg)

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__call__(state) → jax._src.numpy.lax_numpy.ndarray

Description: Return the action based on current state and internal parameters.

Parameters

state (float/numpy.ndarray) – current state

Returns

action to take

Return type

jnp.ndarray

__init__(A: jax._src.numpy.lax_numpy.ndarray, B: jax._src.numpy.lax_numpy.ndarray, Q: jax._src.numpy.lax_numpy.ndarray = None, R: jax._src.numpy.lax_numpy.ndarray = None) → None

Description: Initialize the infinite-time horizon LQR. :param A: system dynamics :type A: jnp.ndarray :param B: system dynamics :type B: jnp.ndarray :param Q: cost matrices (i.e. cost = x^TQx + u^TRu) :type Q: jnp.ndarray :param R: cost matrices (i.e. cost = x^TQx + u^TRu) :type R: jnp.ndarray

Returns

None