diff --git a/docs/generated/double_pendulum.analysis.html b/docs/generated/double_pendulum.analysis.html index 9da9c455..334af684 100644 --- a/docs/generated/double_pendulum.analysis.html +++ b/docs/generated/double_pendulum.analysis.html @@ -113,7 +113,7 @@

Submodules

double_pendulum.analysis.benchmark

-class double_pendulum.analysis.benchmark.benchmarker(controller, x0, dt, t_final, goal, epsilon=[0.1, 0.1, 1.0, 1.0], check_only_final_state=False, integrator='runge_kutta')
+class double_pendulum.analysis.benchmark.benchmarker(controller, x0, dt, t_final, goal, epsilon=[0.1, 0.1, 1.0, 1.0], check_only_final_state=False, goal_check_method='epsilon', goal_check_method_height=0.9, integrator='runge_kutta')

Bases: object

@@ -453,7 +453,7 @@

Submodules
-double_pendulum.analysis.leaderboard.leaderboard_scores(data_paths, save_to, mpar, weights={'energy': 0.0, 'integ_tau': 0.1, 'max_tau': 0.1, 'swingup_time': 0.2, 'tau_cost': 0.0, 'tau_smoothness': 0.6}, normalize={'energy': 1.0, 'integ_tau': 10.0, 'max_tau': 1.0, 'swingup_time': 10.0, 'tau_cost': 10.0, 'tau_smoothness': 1.0}, link_base='', simulation=True)
+double_pendulum.analysis.leaderboard.leaderboard_scores(data_paths, save_to, mpar, weights={'energy': 0.0, 'integ_tau': 0.1, 'max_tau': 0.1, 'swingup_time': 0.2, 'tau_cost': 0.0, 'tau_smoothness': 0.6, 'velocity_cost': 0.2}, normalize={'energy': 1.0, 'integ_tau': 10.0, 'max_tau': 1.0, 'swingup_time': 10.0, 'tau_cost': 10.0, 'tau_smoothness': 1.0, 'velocity_cost': 1000}, link_base='', simulation=True, score_version='v1')

leaderboard_scores. Compute leaderboard scores from data_dictionaries which will be loaded from data_paths. Data can be either from simulation or experiments (but for @@ -503,6 +503,10 @@

Submodulesstring

base-link for hosting data. Not needed for local execution

+
score_versionstring

which equation should be used for the score calculation +if set to something else than “v1”, “v2” will be used +default: “v1”

+

diff --git a/docs/searchindex.js b/docs/searchindex.js index b1ff9ddc..21100e56 100644 --- a/docs/searchindex.js +++ b/docs/searchindex.js @@ -1 +1 @@ -Search.setIndex({"docnames": ["control", "control.mpc", "control.mpc.ilqr", "control.policy", "control.policy.dqn", "control.policy.lqr", "control.policy.pfl", "control.policy.sac", "control.trajopt", "control.trajopt.dircol", "control.trajopt.ilqr", "control.trajstab", "control.trajstab.riccati", "control.trajstab.tvlqr", "dynamics", "generated/double_pendulum", "generated/double_pendulum.analysis", "generated/double_pendulum.controller", "generated/double_pendulum.controller.DQN", "generated/double_pendulum.controller.SAC", "generated/double_pendulum.controller.energy", "generated/double_pendulum.controller.friction_compensation", "generated/double_pendulum.controller.gamepad", "generated/double_pendulum.controller.gravity_compensation", "generated/double_pendulum.controller.ilqr", 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"generated/double_pendulum.controller.energy.rst", "generated/double_pendulum.controller.friction_compensation.rst", "generated/double_pendulum.controller.gamepad.rst", "generated/double_pendulum.controller.gravity_compensation.rst", "generated/double_pendulum.controller.ilqr.rst", "generated/double_pendulum.controller.inverse_dynamics.rst", "generated/double_pendulum.controller.lqr.rst", "generated/double_pendulum.controller.lqr.roa.rst", "generated/double_pendulum.controller.mcpilco.rst", "generated/double_pendulum.controller.partial_feedback_linearization.rst", "generated/double_pendulum.controller.pid.rst", "generated/double_pendulum.controller.random_exploration.rst", "generated/double_pendulum.controller.trajectory_following.rst", "generated/double_pendulum.controller.tvlqr.rst", "generated/double_pendulum.experiments.rst", "generated/double_pendulum.filter.rst", "generated/double_pendulum.model.rst", "generated/double_pendulum.simulation.rst", 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"double_pendulum.trajectory_optimization.direct_collocation": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation"]], "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.dircol_utils"]], "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake"]], "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2"]], "double_pendulum.trajectory_optimization.ilqr": [[41, "module-double_pendulum.trajectory_optimization.ilqr"]], "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp": [[41, "module-double_pendulum.trajectory_optimization.ilqr.ilqr_cpp"]], "double_pendulum.trajectory_optimization.ilqr.paropt": [[41, "module-double_pendulum.trajectory_optimization.ilqr.paropt"]], "double_pendulum.utils": [[42, "module-double_pendulum.utils"]], "double_pendulum.utils.cmaes_controller_par_optimizer": [[42, "module-double_pendulum.utils.cmaes_controller_par_optimizer"]], "double_pendulum.utils.csv_trajectory": [[42, "module-double_pendulum.utils.csv_trajectory"]], "double_pendulum.utils.lists": [[42, "module-double_pendulum.utils.lists"]], "double_pendulum.utils.optimization": [[42, "module-double_pendulum.utils.optimization"]], "double_pendulum.utils.pcw_polynomial": [[42, "module-double_pendulum.utils.pcw_polynomial"]], "double_pendulum.utils.plotting": [[42, "module-double_pendulum.utils.plotting"]], "double_pendulum.utils.urdfs": [[42, "module-double_pendulum.utils.urdfs"]], "double_pendulum.utils.wrap_angles": [[42, "module-double_pendulum.utils.wrap_angles"]], "Hardware": [[43, "hardware"]], "Hardware Assembly": [[44, "hardware-assembly"]], "Bill of Materials": [[45, "bill-of-materials"]], "Links": [[45, "links"]], "Electrical Setup": [[46, "electrical-setup"]], "Wiring": [[46, "wiring"]], "Steps for setting up the wiring": [[46, "steps-for-setting-up-the-wiring"]], "backEMF": [[46, "backemf"]], "Safety Notes": [[47, "safety-notes"]], "Motors": [[48, "motors"]], "MJBots": [[49, "mjbots"]], "Initial Setup": [[49, "initial-setup"]], "Communication": [[49, "communication"], [50, "communication"]], "T-Motor (AK-80-6)": [[50, "t-motor-ak-80-6"]], "Physical Parameters of the Actuator": [[50, "physical-parameters-of-the-actuator"]], "Initial Motor Setup": [[50, "initial-motor-setup"]], "Tutorials": [[50, "tutorials"]], "Instructions: R-Link Config Tool": [[50, "instructions-r-link-config-tool"]], "Debugging": [[50, "debugging"]], "CAN Bus wiring": [[50, "can-bus-wiring"]], "Setting up the CAN interface": [[50, "setting-up-the-can-interface"]], "Testing Motor Connection": [[50, "testing-motor-connection"]], "Python Interface": [[50, "python-interface"]], "Internal PD-Controller": [[50, "internal-pd-controller"]], "Testbench Description": [[51, "testbench-description"], [51, "id1"]], "Welcome to Double Pendulum\u2019s documentation!": [[52, "welcome-to-double-pendulum-s-documentation"]], "Table of Contents": [[52, null]], "Indices and tables": [[52, "indices-and-tables"]], "Installation": [[53, "installation"]], "Potential Issues": [[53, "potential-issues"]], "Leaderboards": [[54, "leaderboards"]], "Real System Leaderboard": [[55, "real-system-leaderboard"]], "Creating the Leaderboard": [[55, "creating-the-leaderboard"], [56, "creating-the-leaderboard"], [58, "creating-the-leaderboard"]], "Evaluating your own controller": [[55, "evaluating-your-own-controller"], [56, "evaluating-your-own-controller"], [58, "evaluating-your-own-controller"]], "Robustness Leaderboard": [[56, "robustness-leaderboard"]], "Leaderboard Parameters": [[56, "leaderboard-parameters"], [58, "leaderboard-parameters"]], "Controller Robustness": [[57, "controller-robustness"]], "Simulation Leaderboard": [[58, "simulation-leaderboard"]], "Repository Structure": [[60, "repository-structure"]], "Programming Language": [[60, "programming-language"]], "Repository Overview": [[60, "repository-overview"]], "Controller Class": [[61, "controller-class"]], "Class Methods": [[61, "class-methods"]], "Logging, Filtering and Compensation": [[61, "logging-filtering-and-compensation"]], "Writing your own controller": [[61, "writing-your-own-controller"]], "Model Parameters": [[62, "model-parameters"]], "Trajectory data": [[63, "trajectory-data"]]}, "indexentries": {"double_pendulum": [[15, "module-double_pendulum"]], "module": [[15, "module-double_pendulum"], [16, "module-double_pendulum.analysis"], [16, "module-double_pendulum.analysis.benchmark"], [16, "module-double_pendulum.analysis.benchmark_plot"], [16, "module-double_pendulum.analysis.benchmark_scores"], [16, "module-double_pendulum.analysis.leaderboard"], [16, "module-double_pendulum.analysis.utils"], [17, "module-double_pendulum.controller"], [17, "module-double_pendulum.controller.abstract_controller"], [17, "module-double_pendulum.controller.combined_controller"], [18, "module-double_pendulum.controller.DQN"], [18, "module-double_pendulum.controller.DQN.replay_buffer"], [18, "module-double_pendulum.controller.DQN.utils"], [19, "module-double_pendulum.controller.SAC"], [19, "module-double_pendulum.controller.SAC.SAC_controller"], [20, "module-double_pendulum.controller.energy"], [20, "module-double_pendulum.controller.energy.energy_Xin"], [21, "module-double_pendulum.controller.friction_compensation"], [21, "module-double_pendulum.controller.friction_compensation.friction_compensation_controller"], [22, "module-double_pendulum.controller.gamepad"], [22, "module-double_pendulum.controller.gamepad.gamepad"], [22, "module-double_pendulum.controller.gamepad.gamepad_controller"], [23, "module-double_pendulum.controller.gravity_compensation"], [23, "module-double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller"], [23, "module-double_pendulum.controller.gravity_compensation.gravity_compensation_controller"], [24, "module-double_pendulum.controller.ilqr"], [24, "module-double_pendulum.controller.ilqr.ilqr_mpc_cpp"], [24, "module-double_pendulum.controller.ilqr.paropt"], [25, "module-double_pendulum.controller.inverse_dynamics"], [25, "module-double_pendulum.controller.inverse_dynamics.computed_torque_controller"], [25, "module-double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller"], [26, "module-double_pendulum.controller.lqr"], [26, "module-double_pendulum.controller.lqr.lqr"], [26, "module-double_pendulum.controller.lqr.lqr_controller"], [26, "module-double_pendulum.controller.lqr.lqr_controller_drake"], [27, "module-double_pendulum.controller.lqr.roa"], [27, "module-double_pendulum.controller.lqr.roa.check"], [27, "module-double_pendulum.controller.lqr.roa.ellipsoid"], [27, "module-double_pendulum.controller.lqr.roa.prob_roa"], [28, "module-double_pendulum.controller.mcpilco"], [28, "module-double_pendulum.controller.mcpilco.mcpilco_controller"], [29, "module-double_pendulum.controller.partial_feedback_linearization"], [29, "module-double_pendulum.controller.partial_feedback_linearization.pfl"], [29, "module-double_pendulum.controller.partial_feedback_linearization.symbolic_pfl"], [30, "module-double_pendulum.controller.pid"], [30, "module-double_pendulum.controller.pid.point_pid_controller"], [30, "module-double_pendulum.controller.pid.trajectory_pid_controller"], [31, "module-double_pendulum.controller.random_exploration"], [31, "module-double_pendulum.controller.random_exploration.random_exploration_controller"], [32, "module-double_pendulum.controller.trajectory_following"], [32, "module-double_pendulum.controller.trajectory_following.feed_forward"], [32, "module-double_pendulum.controller.trajectory_following.trajectory_controller"], [33, "module-double_pendulum.controller.tvlqr"], [33, "module-double_pendulum.controller.tvlqr.tvlqr_controller"], [33, "module-double_pendulum.controller.tvlqr.tvlqr_controller_drake"], [34, "module-double_pendulum.experiments"], [34, "module-double_pendulum.experiments.experimental_utils"], [34, "module-double_pendulum.experiments.hardware_control_loop_mjbots"], [34, "module-double_pendulum.experiments.hardware_control_loop_tmotors"], [34, "module-double_pendulum.experiments.performance_profiler"], [34, "module-double_pendulum.experiments.video_recording"], [35, "module-double_pendulum.filter"], [35, "module-double_pendulum.filter.abstract_filter"], [35, "module-double_pendulum.filter.butterworth"], [35, "module-double_pendulum.filter.identity"], [35, "module-double_pendulum.filter.kalman"], [35, "module-double_pendulum.filter.lowpass"], [35, "module-double_pendulum.filter.running_mean"], [35, "module-double_pendulum.filter.unscented_kalman"], [36, "module-double_pendulum.model"], [36, "module-double_pendulum.model.friction_matrix"], [36, "module-double_pendulum.model.model_parameters"], [36, "module-double_pendulum.model.plant"], [36, "module-double_pendulum.model.symbolic_plant"], [37, "module-double_pendulum.simulation"], [37, "module-double_pendulum.simulation.gym_env"], [37, "module-double_pendulum.simulation.perturbations"], [37, "module-double_pendulum.simulation.simulation"], [37, "module-double_pendulum.simulation.visualization"], [38, "module-double_pendulum.system_identification"], [38, "module-double_pendulum.system_identification.loss"], [38, "module-double_pendulum.system_identification.plotting"], [39, "module-double_pendulum.trajectory_optimization"], [40, "module-double_pendulum.trajectory_optimization.direct_collocation"], [40, "module-double_pendulum.trajectory_optimization.direct_collocation.dircol_utils"], [40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake"], [40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2"], [41, "module-double_pendulum.trajectory_optimization.ilqr"], [41, "module-double_pendulum.trajectory_optimization.ilqr.ilqr_cpp"], [41, "module-double_pendulum.trajectory_optimization.ilqr.paropt"], [42, "module-double_pendulum.utils"], [42, "module-double_pendulum.utils.cmaes_controller_par_optimizer"], [42, "module-double_pendulum.utils.csv_trajectory"], [42, "module-double_pendulum.utils.lists"], [42, "module-double_pendulum.utils.optimization"], [42, "module-double_pendulum.utils.pcw_polynomial"], [42, "module-double_pendulum.utils.plotting"], [42, "module-double_pendulum.utils.urdfs"], [42, "module-double_pendulum.utils.wrap_angles"]], "benchmark() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.benchmark"]], "benchmarker (class in double_pendulum.analysis.benchmark)": [[16, "double_pendulum.analysis.benchmark.benchmarker"]], "check_delay_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_delay_robustness"]], "check_goal_success() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_goal_success"]], "check_meas_noise_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_meas_noise_robustness"]], "check_modelpar_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_modelpar_robustness"]], "check_perturbation_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_perturbation_robustness"]], "check_unoise_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_unoise_robustness"]], "check_uresponsiveness_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_uresponsiveness_robustness"]], "compute_cost() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.compute_cost"]], "compute_ref_cost() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.compute_ref_cost"]], "compute_success_measure() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.compute_success_measure"]], "double_pendulum.analysis": [[16, "module-double_pendulum.analysis"]], "double_pendulum.analysis.benchmark": [[16, "module-double_pendulum.analysis.benchmark"]], "double_pendulum.analysis.benchmark_plot": [[16, "module-double_pendulum.analysis.benchmark_plot"]], "double_pendulum.analysis.benchmark_scores": [[16, "module-double_pendulum.analysis.benchmark_scores"]], "double_pendulum.analysis.leaderboard": [[16, "module-double_pendulum.analysis.leaderboard"]], "double_pendulum.analysis.utils": [[16, "module-double_pendulum.analysis.utils"]], "get_delay_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_delay_score"]], "get_energy() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_energy"]], "get_integrated_torque() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_integrated_torque"]], "get_max_tau() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_max_tau"]], "get_measurement_noise_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_measurement_noise_score"]], "get_model_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_model_score"]], "get_par_list() (in module double_pendulum.analysis.utils)": [[16, "double_pendulum.analysis.utils.get_par_list"]], "get_perturbation_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_perturbation_score"]], "get_scores() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_scores"]], "get_swingup_time() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_swingup_time"]], "get_tau_smoothness() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_tau_smoothness"]], "get_torque_cost() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_torque_cost"]], "get_unoise_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_unoise_score"]], "get_uresponsiveness_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_uresponsiveness_score"]], "get_velocity_cost() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_velocity_cost"]], "leaderboard_scores() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.leaderboard_scores"]], "plot_benchmark_results() (in module double_pendulum.analysis.benchmark_plot)": [[16, "double_pendulum.analysis.benchmark_plot.plot_benchmark_results"]], "plot_model_robustness_multi() (in module double_pendulum.analysis.benchmark_plot)": [[16, "double_pendulum.analysis.benchmark_plot.plot_model_robustness_multi"]], "save() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.save"]], "set_cost_par() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.set_cost_par"]], "set_init_traj() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.set_init_traj"]], "set_model_parameter() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.set_model_parameter"]], "simulate_and_get_cost() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.simulate_and_get_cost"]], "abstractcontroller (class in double_pendulum.controller.abstract_controller)": [[17, "double_pendulum.controller.abstract_controller.AbstractController"]], "combinedcontroller (class in double_pendulum.controller.combined_controller)": [[17, "double_pendulum.controller.combined_controller.CombinedController"]], "simultaneouscontrollers (class in double_pendulum.controller.combined_controller)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers"]], "double_pendulum.controller": [[17, "module-double_pendulum.controller"]], "double_pendulum.controller.abstract_controller": [[17, "module-double_pendulum.controller.abstract_controller"]], "double_pendulum.controller.combined_controller": [[17, "module-double_pendulum.controller.combined_controller"]], "get_control_output() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_control_output"]], "get_control_output_() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.get_control_output_"]], "get_forecast() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_forecast"]], "get_forecast() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.get_forecast"]], "get_forecast() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.get_forecast"]], "get_friction_torque() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_friction_torque"]], "get_gravity_torque() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_gravity_torque"]], "get_init_trajectory() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_init_trajectory"]], "get_init_trajectory() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.get_init_trajectory"]], "get_init_trajectory() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.get_init_trajectory"]], "init() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.init"]], "init_() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.init_"]], "init_() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.init_"]], "init_() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.init_"]], "reset() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.reset"]], "reset_() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.reset_"]], "reset_() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.reset_"]], "save() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.save"]], "save_() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.save_"]], "save_() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.save_"]], "set_filter() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_filter"]], "set_friction_compensation() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_friction_compensation"]], "set_goal() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_goal"]], "set_goal() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.set_goal"]], "set_goal() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.set_goal"]], "set_gravity_compensation() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_gravity_compensation"]], "set_parameters() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_parameters"]], "set_parameters() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.set_parameters"]], "set_parameters() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.set_parameters"]], "set_start() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_start"]], "set_start() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.set_start"]], "set_start() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.set_start"]], "replaybuffer (class in double_pendulum.controller.dqn.replay_buffer)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer"]], "add() (double_pendulum.controller.dqn.replay_buffer.replaybuffer method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.add"]], "create_batch() (double_pendulum.controller.dqn.replay_buffer.replaybuffer static method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.create_batch"]], "double_pendulum.controller.dqn": [[18, "module-double_pendulum.controller.DQN"]], "double_pendulum.controller.dqn.replay_buffer": [[18, "module-double_pendulum.controller.DQN.replay_buffer"]], "double_pendulum.controller.dqn.utils": [[18, "module-double_pendulum.controller.DQN.utils"]], "get_sample_indexes() (double_pendulum.controller.dqn.replay_buffer.replaybuffer method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.get_sample_indexes"]], "load() (double_pendulum.controller.dqn.replay_buffer.replaybuffer method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.load"]], "load_pickled_data() (in module double_pendulum.controller.dqn.utils)": [[18, "double_pendulum.controller.DQN.utils.load_pickled_data"]], "sample_random_batch() (double_pendulum.controller.dqn.replay_buffer.replaybuffer method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.sample_random_batch"]], "save() (double_pendulum.controller.dqn.replay_buffer.replaybuffer method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.save"]], "save_pickled_data() (in module double_pendulum.controller.dqn.utils)": [[18, "double_pendulum.controller.DQN.utils.save_pickled_data"]], "saccontroller (class in double_pendulum.controller.sac.sac_controller)": [[19, "double_pendulum.controller.SAC.SAC_controller.SACController"]], "double_pendulum.controller.sac": [[19, "module-double_pendulum.controller.SAC"]], "double_pendulum.controller.sac.sac_controller": [[19, "module-double_pendulum.controller.SAC.SAC_controller"]], "get_control_output_() (double_pendulum.controller.sac.sac_controller.saccontroller method)": [[19, "double_pendulum.controller.SAC.SAC_controller.SACController.get_control_output_"]], "energycontroller (class in double_pendulum.controller.energy.energy_xin)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController"]], "check_parameters() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.check_parameters"]], "double_pendulum.controller.energy": [[20, "module-double_pendulum.controller.energy"]], "double_pendulum.controller.energy.energy_xin": [[20, "module-double_pendulum.controller.energy.energy_Xin"]], "get_control_output_() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.get_control_output_"]], "init_() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.init_"]], "kd_func() (in module double_pendulum.controller.energy.energy_xin)": [[20, "double_pendulum.controller.energy.energy_Xin.kd_func"]], "save_() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.save_"]], "set_goal() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.set_goal"]], "set_parameters() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.set_parameters"]], "frictioncompensationcontroller (class in double_pendulum.controller.friction_compensation.friction_compensation_controller)": [[21, "double_pendulum.controller.friction_compensation.friction_compensation_controller.FrictionCompensationController"]], "double_pendulum.controller.friction_compensation": [[21, "module-double_pendulum.controller.friction_compensation"]], "double_pendulum.controller.friction_compensation.friction_compensation_controller": [[21, "module-double_pendulum.controller.friction_compensation.friction_compensation_controller"]], "get_control_output_() (double_pendulum.controller.friction_compensation.friction_compensation_controller.frictioncompensationcontroller method)": [[21, "double_pendulum.controller.friction_compensation.friction_compensation_controller.FrictionCompensationController.get_control_output_"]], "save_() (double_pendulum.controller.friction_compensation.friction_compensation_controller.frictioncompensationcontroller method)": [[21, "double_pendulum.controller.friction_compensation.friction_compensation_controller.FrictionCompensationController.save_"]], "gamepad (class in double_pendulum.controller.gamepad.gamepad)": [[22, "double_pendulum.controller.gamepad.gamepad.GamePad"]], "gamepadcontroller (class in double_pendulum.controller.gamepad.gamepad_controller)": [[22, "double_pendulum.controller.gamepad.gamepad_controller.GamepadController"]], "double_pendulum.controller.gamepad": [[22, "module-double_pendulum.controller.gamepad"]], "double_pendulum.controller.gamepad.gamepad": [[22, "module-double_pendulum.controller.gamepad.gamepad"]], "double_pendulum.controller.gamepad.gamepad_controller": [[22, "module-double_pendulum.controller.gamepad.gamepad_controller"]], "get_control_output_() (double_pendulum.controller.gamepad.gamepad_controller.gamepadcontroller method)": [[22, "double_pendulum.controller.gamepad.gamepad_controller.GamepadController.get_control_output_"]], "read() (double_pendulum.controller.gamepad.gamepad.gamepad method)": [[22, "double_pendulum.controller.gamepad.gamepad.GamePad.read"]], "gravitycompensationcontroller (class in double_pendulum.controller.gravity_compensation.gravity_compensation_controller)": [[23, "double_pendulum.controller.gravity_compensation.gravity_compensation_controller.GravityCompensationController"]], "pidgravitycompensationcontroller (class in double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController"]], "double_pendulum.controller.gravity_compensation": [[23, "module-double_pendulum.controller.gravity_compensation"]], "double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller": [[23, "module-double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller"]], "double_pendulum.controller.gravity_compensation.gravity_compensation_controller": [[23, "module-double_pendulum.controller.gravity_compensation.gravity_compensation_controller"]], "get_control_output_() (double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller.pidgravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.gravity_compensation.gravity_compensation_controller.gravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.gravity_compensation_controller.GravityCompensationController.get_control_output_"]], "init_() (double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller.pidgravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController.init_"]], "save_() (double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller.pidgravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController.save_"]], "save_() (double_pendulum.controller.gravity_compensation.gravity_compensation_controller.gravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.gravity_compensation_controller.GravityCompensationController.save_"]], "set_goal() (double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller.pidgravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController.set_goal"]], "set_parameters() (double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller.pidgravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController.set_parameters"]], "ilqrmpccppcontroller (class in double_pendulum.controller.ilqr.ilqr_mpc_cpp)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController"]], "compute_init_traj() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.compute_init_traj"]], "double_pendulum.controller.ilqr": [[24, "module-double_pendulum.controller.ilqr"]], "double_pendulum.controller.ilqr.ilqr_mpc_cpp": [[24, "module-double_pendulum.controller.ilqr.ilqr_mpc_cpp"]], "double_pendulum.controller.ilqr.paropt": [[24, "module-double_pendulum.controller.ilqr.paropt"]], "get_control_output_() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.get_control_output_"]], "get_forecast() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.get_forecast"]], "get_init_trajectory() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.get_init_trajectory"]], "ilqrmpc_swingup_loss (class in double_pendulum.controller.ilqr.paropt)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss"]], "init() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss.init"]], "init_() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.init_"]], "load_init_traj() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.load_init_traj"]], "rescale_pars() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss.rescale_pars"]], "save_() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.save_"]], "set_cost_parameters() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_cost_parameters"]], "set_cost_parameters_() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_cost_parameters_"]], "set_final_cost_parameters() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_final_cost_parameters"]], "set_goal() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_goal"]], "set_model_parameters() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss.set_model_parameters"]], "set_parameters() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_parameters"]], "set_parameters() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss.set_parameters"]], "set_start() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_start"]], "unscale_pars() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss.unscale_pars"]], "computedtorquecontroller (class in double_pendulum.controller.inverse_dynamics.computed_torque_controller)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController"]], "inversedynamicscontroller (class in double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller)": [[25, "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController"]], "double_pendulum.controller.inverse_dynamics": [[25, "module-double_pendulum.controller.inverse_dynamics"]], "double_pendulum.controller.inverse_dynamics.computed_torque_controller": [[25, "module-double_pendulum.controller.inverse_dynamics.computed_torque_controller"]], "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller": [[25, "module-double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller"]], "get_control_output_() (double_pendulum.controller.inverse_dynamics.computed_torque_controller.computedtorquecontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.inversedynamicscontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController.get_control_output_"]], "get_init_trajectory() (double_pendulum.controller.inverse_dynamics.computed_torque_controller.computedtorquecontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController.get_init_trajectory"]], "get_init_trajectory() (double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.inversedynamicscontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController.get_init_trajectory"]], "init_() (double_pendulum.controller.inverse_dynamics.computed_torque_controller.computedtorquecontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController.init_"]], "init_() (double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.inversedynamicscontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController.init_"]], "save_() (double_pendulum.controller.inverse_dynamics.computed_torque_controller.computedtorquecontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController.save_"]], "save_() (double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.inversedynamicscontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController.save_"]], "set_parameters() (double_pendulum.controller.inverse_dynamics.computed_torque_controller.computedtorquecontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController.set_parameters"]], "lqrcontroller (class in double_pendulum.controller.lqr.lqr_controller)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController"]], "lqrcontroller (class in double_pendulum.controller.lqr.lqr_controller_drake)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController"]], "lqrcontroller_nonsymbolic (class in double_pendulum.controller.lqr.lqr_controller)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic"]], "dlqr() (in module double_pendulum.controller.lqr.lqr)": [[26, "double_pendulum.controller.lqr.lqr.dlqr"]], "double_pendulum.controller.lqr": [[26, "module-double_pendulum.controller.lqr"]], "double_pendulum.controller.lqr.lqr": [[26, "module-double_pendulum.controller.lqr.lqr"]], "double_pendulum.controller.lqr.lqr_controller": [[26, "module-double_pendulum.controller.lqr.lqr_controller"]], "double_pendulum.controller.lqr.lqr_controller_drake": [[26, "module-double_pendulum.controller.lqr.lqr_controller_drake"]], "get_control_output_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.get_control_output_"]], "get_control_output_() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.get_control_output_"]], "init_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.init_"]], "init_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.init_"]], "init_() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.init_"]], "iterative_riccati() (in module double_pendulum.controller.lqr.lqr)": [[26, "double_pendulum.controller.lqr.lqr.iterative_riccati"]], "lqr() (in module double_pendulum.controller.lqr.lqr)": [[26, "double_pendulum.controller.lqr.lqr.lqr"]], "save_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.save_"]], "save_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.save_"]], "save_() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.save_"]], "set_cost_matrices() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.set_cost_matrices"]], "set_cost_matrices() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.set_cost_matrices"]], "set_cost_matrices() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.set_cost_matrices"]], "set_cost_parameters() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.set_cost_parameters"]], "set_cost_parameters() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.set_cost_parameters"]], "set_cost_parameters() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.set_cost_parameters"]], "set_cost_parameters_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.set_cost_parameters_"]], "set_cost_parameters_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.set_cost_parameters_"]], "set_cost_parameters_() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.set_cost_parameters_"]], "set_goal() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.set_goal"]], "set_goal() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.set_goal"]], "set_goal() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.set_goal"]], "set_parameters() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.set_parameters"]], "set_parameters() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.set_parameters"]], "check_x0() (in module double_pendulum.controller.lqr.roa.prob_roa)": [[27, "double_pendulum.controller.lqr.roa.prob_roa.check_x0"]], "compute_roa_prob() (in module double_pendulum.controller.lqr.roa.prob_roa)": [[27, "double_pendulum.controller.lqr.roa.prob_roa.compute_roa_prob"]], "directsphere() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.directSphere"]], "double_pendulum.controller.lqr.roa": [[27, "module-double_pendulum.controller.lqr.roa"]], "double_pendulum.controller.lqr.roa.check": [[27, "module-double_pendulum.controller.lqr.roa.check"]], "double_pendulum.controller.lqr.roa.ellipsoid": [[27, "module-double_pendulum.controller.lqr.roa.ellipsoid"]], "double_pendulum.controller.lqr.roa.prob_roa": [[27, "module-double_pendulum.controller.lqr.roa.prob_roa"]], "getellipseparamsfromquad() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.getEllipseParamsFromQuad"]], "getellipsepatch() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.getEllipsePatch"]], "getellipsepatches() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.getEllipsePatches"]], "lqr_check_ctg (class in double_pendulum.controller.lqr.roa.check)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_ctg"]], "lqr_check_ctg_verification() (in module double_pendulum.controller.lqr.roa.check)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_ctg_verification"]], "lqr_check_epsilon (class in double_pendulum.controller.lqr.roa.check)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_epsilon"]], "lqr_check_epsilon_verification() (in module double_pendulum.controller.lqr.roa.check)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_epsilon_verification"]], "plotellipse() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.plotEllipse"]], "quadform() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.quadForm"]], "rescale_pars() (double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss method)": [[27, "double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss.rescale_pars"]], "roa_prob_loss (class in double_pendulum.controller.lqr.roa.prob_roa)": [[27, "double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss"]], "samplefromellipsoid() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.sampleFromEllipsoid"]], "sim_callback() (double_pendulum.controller.lqr.roa.check.lqr_check_ctg method)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_ctg.sim_callback"]], "sim_callback() (double_pendulum.controller.lqr.roa.check.lqr_check_epsilon method)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_epsilon.sim_callback"]], "unscale_pars() (double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss method)": [[27, "double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss.unscale_pars"]], "volellipsoid() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.volEllipsoid"]], "controller_muli_out_sum_of_gaussians_with_angles_numpy (class in double_pendulum.controller.mcpilco.mcpilco_controller)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_muli_out_sum_of_Gaussians_with_angles_numpy"]], "controller_multi_policy_sum_of_gaussians_with_angles_numpy (class in double_pendulum.controller.mcpilco.mcpilco_controller)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_multi_policy_sum_of_gaussians_with_angles_numpy"]], "controller_sum_of_gaussians_with_angles_numpy (class in double_pendulum.controller.mcpilco.mcpilco_controller)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_sum_of_Gaussians_with_angles_numpy"]], "double_pendulum.controller.mcpilco": [[28, "module-double_pendulum.controller.mcpilco"]], "double_pendulum.controller.mcpilco.mcpilco_controller": [[28, "module-double_pendulum.controller.mcpilco.mcpilco_controller"]], "get_control_output_() (double_pendulum.controller.mcpilco.mcpilco_controller.controller_muli_out_sum_of_gaussians_with_angles_numpy method)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_muli_out_sum_of_Gaussians_with_angles_numpy.get_control_output_"]], "get_control_output_() (double_pendulum.controller.mcpilco.mcpilco_controller.controller_multi_policy_sum_of_gaussians_with_angles_numpy method)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_multi_policy_sum_of_gaussians_with_angles_numpy.get_control_output_"]], "get_control_output_() (double_pendulum.controller.mcpilco.mcpilco_controller.controller_sum_of_gaussians_with_angles_numpy method)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_sum_of_Gaussians_with_angles_numpy.get_control_output_"]], "get_np_policy() (double_pendulum.controller.mcpilco.mcpilco_controller.controller_muli_out_sum_of_gaussians_with_angles_numpy method)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_muli_out_sum_of_Gaussians_with_angles_numpy.get_np_policy"]], "get_np_policy() (double_pendulum.controller.mcpilco.mcpilco_controller.controller_multi_policy_sum_of_gaussians_with_angles_numpy method)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_multi_policy_sum_of_gaussians_with_angles_numpy.get_np_policy"]], "energyshapingpflandlqrcontroller (class in double_pendulum.controller.partial_feedback_linearization.pfl)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController"]], "energyshapingpflcontroller (class in double_pendulum.controller.partial_feedback_linearization.pfl)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController"]], "symbolicpflandlqrcontroller (class in double_pendulum.controller.partial_feedback_linearization.symbolic_pfl)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController"]], "symbolicpflcontroller (class in double_pendulum.controller.partial_feedback_linearization.symbolic_pfl)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController"]], "double_pendulum.controller.partial_feedback_linearization": [[29, "module-double_pendulum.controller.partial_feedback_linearization"]], "double_pendulum.controller.partial_feedback_linearization.pfl": [[29, "module-double_pendulum.controller.partial_feedback_linearization.pfl"]], "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl": [[29, "module-double_pendulum.controller.partial_feedback_linearization.symbolic_pfl"]], "get_control_output_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.get_control_output_"]], "init_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController.init_"]], "init_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController.init_"]], "init_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.init_"]], "save_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController.save_"]], "save_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController.save_"]], "save_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.save_"]], "set_cost_parameters() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController.set_cost_parameters"]], "set_cost_parameters() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.set_cost_parameters"]], "set_cost_parameters_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController.set_cost_parameters_"]], "set_cost_parameters_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController.set_cost_parameters_"]], "set_cost_parameters_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController.set_cost_parameters_"]], "set_cost_parameters_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.set_cost_parameters_"]], "set_goal() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController.set_goal"]], "set_goal() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController.set_goal"]], "set_goal() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController.set_goal"]], "set_goal() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.set_goal"]], "pointpidcontroller (class in double_pendulum.controller.pid.point_pid_controller)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController"]], "trajpidcontroller (class in double_pendulum.controller.pid.trajectory_pid_controller)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController"]], "double_pendulum.controller.pid": [[30, "module-double_pendulum.controller.pid"]], "double_pendulum.controller.pid.point_pid_controller": [[30, "module-double_pendulum.controller.pid.point_pid_controller"]], "double_pendulum.controller.pid.trajectory_pid_controller": [[30, "module-double_pendulum.controller.pid.trajectory_pid_controller"]], "get_control_output_() (double_pendulum.controller.pid.point_pid_controller.pointpidcontroller method)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.pid.trajectory_pid_controller.trajpidcontroller method)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController.get_control_output_"]], "get_init_trajectory() (double_pendulum.controller.pid.trajectory_pid_controller.trajpidcontroller method)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController.get_init_trajectory"]], "init_() (double_pendulum.controller.pid.point_pid_controller.pointpidcontroller method)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController.init_"]], "init_() (double_pendulum.controller.pid.trajectory_pid_controller.trajpidcontroller method)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController.init_"]], "save_() (double_pendulum.controller.pid.point_pid_controller.pointpidcontroller method)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController.save_"]], "save_() (double_pendulum.controller.pid.trajectory_pid_controller.trajpidcontroller method)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController.save_"]], "set_goal() (double_pendulum.controller.pid.point_pid_controller.pointpidcontroller method)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController.set_goal"]], "set_parameters() (double_pendulum.controller.pid.point_pid_controller.pointpidcontroller method)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController.set_parameters"]], "set_parameters() (double_pendulum.controller.pid.trajectory_pid_controller.trajpidcontroller method)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController.set_parameters"]], "controller_random_exploration (class in double_pendulum.controller.random_exploration.random_exploration_controller)": [[31, "double_pendulum.controller.random_exploration.random_exploration_controller.Controller_Random_exploration"]], "double_pendulum.controller.random_exploration": [[31, "module-double_pendulum.controller.random_exploration"]], "double_pendulum.controller.random_exploration.random_exploration_controller": [[31, "module-double_pendulum.controller.random_exploration.random_exploration_controller"]], "get_control_output_() (double_pendulum.controller.random_exploration.random_exploration_controller.controller_random_exploration method)": [[31, "double_pendulum.controller.random_exploration.random_exploration_controller.Controller_Random_exploration.get_control_output_"]], "init_profile() (double_pendulum.controller.random_exploration.random_exploration_controller.controller_random_exploration method)": [[31, "double_pendulum.controller.random_exploration.random_exploration_controller.Controller_Random_exploration.init_profile"]], "feedforwardcontroller (class in double_pendulum.controller.trajectory_following.feed_forward)": [[32, "double_pendulum.controller.trajectory_following.feed_forward.FeedForwardController"]], "trajectorycontroller (class in double_pendulum.controller.trajectory_following.trajectory_controller)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryController"]], "trajectoryinterpcontroller (class in double_pendulum.controller.trajectory_following.trajectory_controller)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController"]], "double_pendulum.controller.trajectory_following": [[32, "module-double_pendulum.controller.trajectory_following"]], "double_pendulum.controller.trajectory_following.feed_forward": [[32, "module-double_pendulum.controller.trajectory_following.feed_forward"]], "double_pendulum.controller.trajectory_following.trajectory_controller": [[32, "module-double_pendulum.controller.trajectory_following.trajectory_controller"]], "get_control_output_() (double_pendulum.controller.trajectory_following.feed_forward.feedforwardcontroller method)": [[32, "double_pendulum.controller.trajectory_following.feed_forward.FeedForwardController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.trajectory_following.trajectory_controller.trajectorycontroller method)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.trajectory_following.trajectory_controller.trajectoryinterpcontroller method)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController.get_control_output_"]], "get_init_trajectory() (double_pendulum.controller.trajectory_following.trajectory_controller.trajectorycontroller method)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryController.get_init_trajectory"]], "get_init_trajectory() (double_pendulum.controller.trajectory_following.trajectory_controller.trajectoryinterpcontroller method)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController.get_init_trajectory"]], "save_() (double_pendulum.controller.trajectory_following.feed_forward.feedforwardcontroller method)": [[32, "double_pendulum.controller.trajectory_following.feed_forward.FeedForwardController.save_"]], "save_() (double_pendulum.controller.trajectory_following.trajectory_controller.trajectoryinterpcontroller method)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController.save_"]], "tvlqrcontroller (class in double_pendulum.controller.tvlqr.tvlqr_controller)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController"]], "tvlqrcontroller (class in double_pendulum.controller.tvlqr.tvlqr_controller_drake)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController"]], "double_pendulum.controller.tvlqr": [[33, "module-double_pendulum.controller.tvlqr"]], "double_pendulum.controller.tvlqr.tvlqr_controller": [[33, "module-double_pendulum.controller.tvlqr.tvlqr_controller"]], "double_pendulum.controller.tvlqr.tvlqr_controller_drake": [[33, "module-double_pendulum.controller.tvlqr.tvlqr_controller_drake"]], "get_control_output_() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.tvlqr.tvlqr_controller_drake.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController.get_control_output_"]], "get_init_trajectory() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.get_init_trajectory"]], "get_init_trajectory() (double_pendulum.controller.tvlqr.tvlqr_controller_drake.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController.get_init_trajectory"]], "init_() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.init_"]], "init_() (double_pendulum.controller.tvlqr.tvlqr_controller_drake.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController.init_"]], "save_() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.save_"]], "save_() (double_pendulum.controller.tvlqr.tvlqr_controller_drake.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController.save_"]], "set_cost_parameters() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.set_cost_parameters"]], "set_cost_parameters() (double_pendulum.controller.tvlqr.tvlqr_controller_drake.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController.set_cost_parameters"]], "set_goal() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.set_goal"]], "videowriterwidget (class in double_pendulum.experiments.video_recording)": [[34, "double_pendulum.experiments.video_recording.VideoWriterWidget"]], "double_pendulum.experiments": [[34, "module-double_pendulum.experiments"]], "double_pendulum.experiments.experimental_utils": [[34, "module-double_pendulum.experiments.experimental_utils"]], "double_pendulum.experiments.hardware_control_loop_mjbots": [[34, "module-double_pendulum.experiments.hardware_control_loop_mjbots"]], "double_pendulum.experiments.hardware_control_loop_tmotors": [[34, "module-double_pendulum.experiments.hardware_control_loop_tmotors"]], "double_pendulum.experiments.performance_profiler": [[34, "module-double_pendulum.experiments.performance_profiler"]], "double_pendulum.experiments.video_recording": [[34, "module-double_pendulum.experiments.video_recording"]], "motor_send_n_commands() (in module double_pendulum.experiments.performance_profiler)": [[34, "double_pendulum.experiments.performance_profiler.motor_send_n_commands"]], "motor_send_n_commands2() (in module double_pendulum.experiments.performance_profiler)": [[34, "double_pendulum.experiments.performance_profiler.motor_send_n_commands2"]], "motor_speed_test() (in module double_pendulum.experiments.performance_profiler)": [[34, "double_pendulum.experiments.performance_profiler.motor_speed_test"]], "motor_speed_test2() (in module double_pendulum.experiments.performance_profiler)": [[34, "double_pendulum.experiments.performance_profiler.motor_speed_test2"]], "profiler() (in module double_pendulum.experiments.performance_profiler)": [[34, "double_pendulum.experiments.performance_profiler.profiler"]], "rad2rev() (in module double_pendulum.experiments.experimental_utils)": [[34, "double_pendulum.experiments.experimental_utils.rad2rev"]], "rev2rad() (in module double_pendulum.experiments.experimental_utils)": [[34, "double_pendulum.experiments.experimental_utils.rev2rad"]], "run_experiment() (in module double_pendulum.experiments.hardware_control_loop_tmotors)": [[34, "double_pendulum.experiments.hardware_control_loop_tmotors.run_experiment"]], "save_data() (in module double_pendulum.experiments.experimental_utils)": [[34, "double_pendulum.experiments.experimental_utils.save_data"]], "save_frame() (double_pendulum.experiments.video_recording.videowriterwidget method)": [[34, "double_pendulum.experiments.video_recording.VideoWriterWidget.save_frame"]], "setzeroposition() (in module double_pendulum.experiments.experimental_utils)": [[34, "double_pendulum.experiments.experimental_utils.setZeroPosition"]], "show_frame() (double_pendulum.experiments.video_recording.videowriterwidget method)": [[34, "double_pendulum.experiments.video_recording.VideoWriterWidget.show_frame"]], "start_recording() (double_pendulum.experiments.video_recording.videowriterwidget method)": [[34, "double_pendulum.experiments.video_recording.VideoWriterWidget.start_recording"]], "update() (double_pendulum.experiments.video_recording.videowriterwidget method)": [[34, 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(double_pendulum.filter.butterworth.butterworth_filter method)": [[35, "double_pendulum.filter.butterworth.butterworth_filter.init_"]], "init_() (double_pendulum.filter.identity.identity_filter method)": [[35, "double_pendulum.filter.identity.identity_filter.init_"]], "init_() (double_pendulum.filter.kalman.kalman_filter method)": [[35, "double_pendulum.filter.kalman.kalman_filter.init_"]], "init_() (double_pendulum.filter.lowpass.lowpass_filter method)": [[35, "double_pendulum.filter.lowpass.lowpass_filter.init_"]], "init_() (double_pendulum.filter.running_mean.runningmean_filter method)": [[35, "double_pendulum.filter.running_mean.runningmean_filter.init_"]], "init_() (double_pendulum.filter.unscented_kalman.unscentedkalman_filter method)": [[35, "double_pendulum.filter.unscented_kalman.unscentedkalman_filter.init_"]], "kalman_filter (class in double_pendulum.filter.kalman)": [[35, "double_pendulum.filter.kalman.kalman_filter"]], "lowpass_filter (class in double_pendulum.filter.lowpass)": [[35, "double_pendulum.filter.lowpass.lowpass_filter"]], "runningmean_filter (class in double_pendulum.filter.running_mean)": [[35, "double_pendulum.filter.running_mean.runningmean_filter"]], "save() (double_pendulum.filter.abstract_filter.abstractfilter method)": [[35, "double_pendulum.filter.abstract_filter.AbstractFilter.save"]], "save_() (double_pendulum.filter.abstract_filter.abstractfilter method)": [[35, "double_pendulum.filter.abstract_filter.AbstractFilter.save_"]], "save_() (double_pendulum.filter.butterworth.butterworth_filter method)": [[35, "double_pendulum.filter.butterworth.butterworth_filter.save_"]], "save_() (double_pendulum.filter.identity.identity_filter method)": [[35, "double_pendulum.filter.identity.identity_filter.save_"]], "save_() (double_pendulum.filter.kalman.kalman_filter method)": [[35, "double_pendulum.filter.kalman.kalman_filter.save_"]], "save_() (double_pendulum.filter.lowpass.lowpass_filter method)": [[35, "double_pendulum.filter.lowpass.lowpass_filter.save_"]], "save_() (double_pendulum.filter.running_mean.runningmean_filter method)": [[35, "double_pendulum.filter.running_mean.runningmean_filter.save_"]], "save_() (double_pendulum.filter.unscented_kalman.unscentedkalman_filter method)": [[35, "double_pendulum.filter.unscented_kalman.unscentedkalman_filter.save_"]], "unscentedkalman_filter (class in double_pendulum.filter.unscented_kalman)": [[35, "double_pendulum.filter.unscented_kalman.unscentedkalman_filter"]], "doublependulumplant (class in double_pendulum.model.plant)": [[36, "double_pendulum.model.plant.DoublePendulumPlant"]], "i1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.I1"]], "i2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.I2"]], "ir_sym (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.Ir_sym"]], "symbolicdoublependulum (class in double_pendulum.model.symbolic_plant)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum"]], "angular_momentum_base() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.angular_momentum_base"]], "angular_momentum_ddot_base() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.angular_momentum_ddot_base"]], "angular_momentum_dot_base() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.angular_momentum_dot_base"]], "b1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.b1"]], "b2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.b2"]], "base (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.base"]], "center_of_mass() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.center_of_mass"]], "cf1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.cf1"]], "cf2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.cf2"]], "com_dot() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.com_dot"]], "coriolis_matrix() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.coriolis_matrix"]], "coriolis_matrix() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.coriolis_matrix"]], "coulomb_vector() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.coulomb_vector"]], "coulomb_vector() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.coulomb_vector"]], "diff_to_matrix() (in module double_pendulum.model.symbolic_plant)": [[36, "double_pendulum.model.symbolic_plant.diff_to_matrix"]], "dof (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.dof"]], "double_pendulum.model": [[36, "module-double_pendulum.model"]], "double_pendulum.model.friction_matrix": [[36, "module-double_pendulum.model.friction_matrix"]], "double_pendulum.model.model_parameters": [[36, "module-double_pendulum.model.model_parameters"]], "double_pendulum.model.plant": [[36, "module-double_pendulum.model.plant"]], "double_pendulum.model.symbolic_plant": [[36, "module-double_pendulum.model.symbolic_plant"]], "equation_of_motion() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.equation_of_motion"]], "forward_dynamics() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.forward_dynamics"]], "forward_dynamics() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.forward_dynamics"]], "forward_kinematics() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.forward_kinematics"]], "forward_kinematics() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.forward_kinematics"]], "g_sym (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.g_sym"]], "get_alin() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Alin"]], "get_blin() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Blin"]], "get_cx() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Cx"]], "get_fx() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Fx"]], "get_gx() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Gx"]], "get_minvx() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Minvx"]], "get_mx() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Mx"]], "get_dict() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.get_dict"]], "gr_sym (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.gr_sym"]], "gravity_vector() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.gravity_vector"]], "gravity_vector() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.gravity_vector"]], "inverse_dynamics() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.inverse_dynamics"]], "kinetic_energy() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.kinetic_energy"]], "kinetic_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.kinetic_energy"]], "l1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.l1"]], "l2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.l2"]], "lambdify_matrices() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.lambdify_matrices"]], "linear_matrices() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.linear_matrices"]], "linear_matrices() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.linear_matrices"]], "linear_matrices_discrete() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.linear_matrices_discrete"]], "load_dict() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.load_dict"]], "load_model() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.load_model"]], "load_yaml() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.load_yaml"]], "m1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.m1"]], "m2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.m2"]], "mass_matrix() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.mass_matrix"]], "mass_matrix() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.mass_matrix"]], "model_parameters (class in double_pendulum.model.model_parameters)": [[36, "double_pendulum.model.model_parameters.model_parameters"]], "n_actuators (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.n_actuators"]], "n_links (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.n_links"]], "potential_energy() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.potential_energy"]], "potential_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.potential_energy"]], "q (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q"]], "q01 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q01"]], "q02 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q02"]], "q0d1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q0d1"]], "q0d2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q0d2"]], "q1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q1"]], "q2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q2"]], "qd (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qd"]], "qd1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qd1"]], "qd2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qd2"]], "qdd (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qdd"]], "qdd1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qdd1"]], "qdd2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qdd2"]], "r1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.r1"]], "r2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.r2"]], "replace_parameters() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.replace_parameters"]], "rhs() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.rhs"]], "rhs() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.rhs"]], "save_dict() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.save_dict"]], "set_cfric() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_cfric"]], "set_com() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_com"]], "set_damping() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_damping"]], "set_dof() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_dof"]], "set_gear_ratio() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_gear_ratio"]], "set_gravity() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_gravity"]], "set_inertia() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_inertia"]], "set_length() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_length"]], "set_mass() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_mass"]], "set_motor_inertia() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_motor_inertia"]], "set_torque_limit() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_torque_limit"]], "sub_symbols() (in module double_pendulum.model.symbolic_plant)": [[36, "double_pendulum.model.symbolic_plant.sub_symbols"]], "symbolic_coriolis_matrix() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_coriolis_matrix"]], "symbolic_coulomb_vector() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_coulomb_vector"]], "symbolic_gravity_vector() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_gravity_vector"]], "symbolic_kinetic_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_kinetic_energy"]], "symbolic_linear_matrices() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_linear_matrices"]], "symbolic_mass_matrix() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_mass_matrix"]], "symbolic_potential_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_potential_energy"]], "symbolic_total_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_total_energy"]], "tl1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.tl1"]], "tl2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.tl2"]], "total_energy() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.total_energy"]], "total_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.total_energy"]], "u (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u"]], "u0 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u0"]], "u01 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u01"]], "u02 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u02"]], "u1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u1"]], "u2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u2"]], "vector_mult() (in module double_pendulum.model.symbolic_plant)": [[36, "double_pendulum.model.symbolic_plant.vector_mult"]], "x (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.x"]], "x0 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.x0"]], "xd (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.xd"]], "yb_friction_matrix() (in module double_pendulum.model.friction_matrix)": [[36, "double_pendulum.model.friction_matrix.yb_friction_matrix"]], "customenv (class in double_pendulum.simulation.gym_env)": [[37, "double_pendulum.simulation.gym_env.CustomEnv"]], "simulator (class in double_pendulum.simulation.simulation)": [[37, "double_pendulum.simulation.simulation.Simulator"]], "action_space (double_pendulum.simulation.gym_env.customenv attribute)": [[37, "double_pendulum.simulation.gym_env.CustomEnv.action_space"]], "controller_step() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.controller_step"]], "double_pendulum.simulation": [[37, "module-double_pendulum.simulation"]], "double_pendulum.simulation.gym_env": [[37, "module-double_pendulum.simulation.gym_env"]], "double_pendulum.simulation.perturbations": [[37, "module-double_pendulum.simulation.perturbations"]], "double_pendulum.simulation.simulation": [[37, "module-double_pendulum.simulation.simulation"]], "double_pendulum.simulation.visualization": [[37, "module-double_pendulum.simulation.visualization"]], "double_pendulum_dynamics_func (class in double_pendulum.simulation.gym_env)": [[37, "double_pendulum.simulation.gym_env.double_pendulum_dynamics_func"]], "euler_integrator() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.euler_integrator"]], "get_arrow() (in module double_pendulum.simulation.visualization)": [[37, "double_pendulum.simulation.visualization.get_arrow"]], "get_control_u() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.get_control_u"]], "get_gaussian_perturbation_array() (in module double_pendulum.simulation.perturbations)": [[37, "double_pendulum.simulation.perturbations.get_gaussian_perturbation_array"]], "get_measurement() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.get_measurement"]], "get_random_gauss_perturbation_array() (in module double_pendulum.simulation.perturbations)": [[37, "double_pendulum.simulation.perturbations.get_random_gauss_perturbation_array"]], "get_real_applied_u() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.get_real_applied_u"]], "get_state() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.get_state"]], "get_trajectory_data() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.get_trajectory_data"]], "integration() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)": [[37, "double_pendulum.simulation.gym_env.double_pendulum_dynamics_func.integration"]], "normalize_state() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)": [[37, "double_pendulum.simulation.gym_env.double_pendulum_dynamics_func.normalize_state"]], "observation_space (double_pendulum.simulation.gym_env.customenv attribute)": [[37, "double_pendulum.simulation.gym_env.CustomEnv.observation_space"]], "plot_perturbation_array() (in module double_pendulum.simulation.perturbations)": [[37, "double_pendulum.simulation.perturbations.plot_perturbation_array"]], "record_data() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.record_data"]], "render() (double_pendulum.simulation.gym_env.customenv method)": [[37, "double_pendulum.simulation.gym_env.CustomEnv.render"]], "reset() (double_pendulum.simulation.gym_env.customenv method)": [[37, "double_pendulum.simulation.gym_env.CustomEnv.reset"]], "reset() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.reset"]], "reset_data_recorder() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.reset_data_recorder"]], "runge_integrator() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.runge_integrator"]], "set_arrow_properties() (in module double_pendulum.simulation.visualization)": [[37, "double_pendulum.simulation.visualization.set_arrow_properties"]], "set_disturbances() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.set_disturbances"]], "set_measurement_parameters() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.set_measurement_parameters"]], "set_motor_parameters() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.set_motor_parameters"]], "set_process_noise() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.set_process_noise"]], "set_state() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.set_state"]], "simulate() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.simulate"]], "simulate_and_animate() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.simulate_and_animate"]], "step() (double_pendulum.simulation.gym_env.customenv method)": [[37, "double_pendulum.simulation.gym_env.CustomEnv.step"]], "step() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.step"]], "unscale_action() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)": [[37, "double_pendulum.simulation.gym_env.double_pendulum_dynamics_func.unscale_action"]], "unscale_state() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)": [[37, "double_pendulum.simulation.gym_env.double_pendulum_dynamics_func.unscale_state"]], "double_pendulum.system_identification": [[38, "module-double_pendulum.system_identification"]], "double_pendulum.system_identification.loss": [[38, "module-double_pendulum.system_identification.loss"]], "double_pendulum.system_identification.plotting": [[38, "module-double_pendulum.system_identification.plotting"]], "errfunc (class in double_pendulum.system_identification.loss)": [[38, "double_pendulum.system_identification.loss.errfunc"]], "errfunc_nl (class in double_pendulum.system_identification.loss)": [[38, "double_pendulum.system_identification.loss.errfunc_nl"]], "plot_torques() (in module double_pendulum.system_identification.plotting)": [[38, "double_pendulum.system_identification.plotting.plot_torques"]], "rescale_pars() (double_pendulum.system_identification.loss.errfunc method)": [[38, "double_pendulum.system_identification.loss.errfunc.rescale_pars"]], "rescale_pars() (double_pendulum.system_identification.loss.errfunc_nl method)": [[38, "double_pendulum.system_identification.loss.errfunc_nl.rescale_pars"]], "unscale_pars() (double_pendulum.system_identification.loss.errfunc method)": [[38, "double_pendulum.system_identification.loss.errfunc.unscale_pars"]], "unscale_pars() (double_pendulum.system_identification.loss.errfunc_nl method)": [[38, "double_pendulum.system_identification.loss.errfunc_nl.unscale_pars"]], "double_pendulum.trajectory_optimization": [[39, "module-double_pendulum.trajectory_optimization"]], "collocationconstraint() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.dircol method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol.CollocationConstraint"]], "computetrajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.dircol method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol.ComputeTrajectory"]], "dircol (class in double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol"]], "equationofmotion() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.dircol method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol.EquationOfMotion"]], "interpolationconstraint() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.dircol method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol.InterpolationConstraint"]], "mathematicalprogram() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.dircol method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol.MathematicalProgram"]], "animate_trajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator.animate_trajectory"]], "animation() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils.animation"]], "compute_trajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator.compute_trajectory"]], "construct_trajectories() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils.construct_trajectories"]], "create_plant_from_urdf() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils.create_plant_from_urdf"]], "dircol_calculator (class in double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator"]], "double_pendulum.trajectory_optimization.direct_collocation": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation"]], "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.dircol_utils"]], "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake"]], "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2"]], "extract_data_from_polynomial() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils.extract_data_from_polynomial"]], "get_trajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator.get_trajectory"]], "compute_trajectory() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.compute_trajectory"]], "double_pendulum.trajectory_optimization.ilqr": [[41, "module-double_pendulum.trajectory_optimization.ilqr"]], "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp": [[41, "module-double_pendulum.trajectory_optimization.ilqr.ilqr_cpp"]], "double_pendulum.trajectory_optimization.ilqr.paropt": [[41, "module-double_pendulum.trajectory_optimization.ilqr.paropt"]], "ilqr_calculator (class in double_pendulum.trajectory_optimization.ilqr.ilqr_cpp)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator"]], "ilqr_trajopt_loss (class in double_pendulum.trajectory_optimization.ilqr.paropt)": [[41, "double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss"]], "rescale_pars() (double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)": [[41, "double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss.rescale_pars"]], "save_trajectory_csv() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.save_trajectory_csv"]], "set_cost_parameters() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_cost_parameters"]], "set_cost_parameters_() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_cost_parameters_"]], "set_goal() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_goal"]], "set_model_parameters() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_model_parameters"]], "set_model_parameters() (double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)": [[41, "double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss.set_model_parameters"]], "set_parameters() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_parameters"]], "set_parameters() (double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)": [[41, "double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss.set_parameters"]], "set_start() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_start"]], "unscale_pars() (double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)": [[41, "double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss.unscale_pars"]], "fitpiecewisepolynomial (class in double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial"]], "interpolatematrix (class in double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.InterpolateMatrix"]], "interpolatevector (class in double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.InterpolateVector"]], "resampletrajectory() (in module double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.ResampleTrajectory"]], "cma_optimization() (in module double_pendulum.utils.optimization)": [[42, "double_pendulum.utils.optimization.cma_optimization"]], "concatenate_trajectories() (in module double_pendulum.utils.csv_trajectory)": [[42, "double_pendulum.utils.csv_trajectory.concatenate_trajectories"]], "create_section_poly() (double_pendulum.utils.pcw_polynomial.fitpiecewisepolynomial method)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial.create_section_poly"]], "determin_poly() (double_pendulum.utils.pcw_polynomial.fitpiecewisepolynomial method)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial.determin_poly"]], "double_pendulum.utils": [[42, "module-double_pendulum.utils"]], "double_pendulum.utils.cmaes_controller_par_optimizer": [[42, "module-double_pendulum.utils.cmaes_controller_par_optimizer"]], "double_pendulum.utils.csv_trajectory": [[42, "module-double_pendulum.utils.csv_trajectory"]], "double_pendulum.utils.lists": [[42, "module-double_pendulum.utils.lists"]], "double_pendulum.utils.optimization": [[42, "module-double_pendulum.utils.optimization"]], "double_pendulum.utils.pcw_polynomial": [[42, "module-double_pendulum.utils.pcw_polynomial"]], "double_pendulum.utils.plotting": [[42, "module-double_pendulum.utils.plotting"]], "double_pendulum.utils.urdfs": [[42, "module-double_pendulum.utils.urdfs"]], "double_pendulum.utils.wrap_angles": [[42, "module-double_pendulum.utils.wrap_angles"]], "end_time() (double_pendulum.utils.pcw_polynomial.fitpiecewisepolynomial method)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial.end_time"]], "generate_urdf() (in module double_pendulum.utils.urdfs)": [[42, "double_pendulum.utils.urdfs.generate_urdf"]], "get_value() (double_pendulum.utils.pcw_polynomial.fitpiecewisepolynomial method)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial.get_value"]], "get_value() (double_pendulum.utils.pcw_polynomial.interpolatematrix method)": [[42, "double_pendulum.utils.pcw_polynomial.InterpolateMatrix.get_value"]], "get_value() (double_pendulum.utils.pcw_polynomial.interpolatevector method)": [[42, "double_pendulum.utils.pcw_polynomial.InterpolateVector.get_value"]], "load_kk_values() (in module double_pendulum.utils.csv_trajectory)": [[42, "double_pendulum.utils.csv_trajectory.load_Kk_values"]], "load_trajectory() (in module double_pendulum.utils.csv_trajectory)": [[42, "double_pendulum.utils.csv_trajectory.load_trajectory"]], "load_trajectory_full() (in module double_pendulum.utils.csv_trajectory)": [[42, "double_pendulum.utils.csv_trajectory.load_trajectory_full"]], "obj_to_list() (in module double_pendulum.utils.lists)": [[42, "double_pendulum.utils.lists.obj_to_list"]], "plot_figures() (in module double_pendulum.utils.plotting)": [[42, "double_pendulum.utils.plotting.plot_figures"]], "plot_timeseries() (in module double_pendulum.utils.plotting)": [[42, "double_pendulum.utils.plotting.plot_timeseries"]], "poly1() (in module double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.poly1"]], "poly2() (in module double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.poly2"]], "poly3() (in module double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.poly3"]], "remove_namespaces() (in module double_pendulum.utils.urdfs)": [[42, "double_pendulum.utils.urdfs.remove_namespaces"]], "rescale_pars() (double_pendulum.utils.cmaes_controller_par_optimizer.swingup_loss method)": [[42, "double_pendulum.utils.cmaes_controller_par_optimizer.swingup_loss.rescale_pars"]], "rescale_pars() (double_pendulum.utils.cmaes_controller_par_optimizer.traj_opt_loss method)": [[42, "double_pendulum.utils.cmaes_controller_par_optimizer.traj_opt_loss.rescale_pars"]], 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"generated/double_pendulum.trajectory_optimization.ilqr.rst", "generated/double_pendulum.utils.rst", "hardware.rst", "hardware.assembly.rst", "hardware.bom.rst", "hardware.electrical.rst", "hardware.experiments.rst", "hardware.motors.rst", "hardware.motors.mjbots.rst", "hardware.motors.tmotors.rst", "hardware.testbench.rst", "index.rst", "installation.rst", "leaderboard.rst", "leaderboard.hardware.rst", "leaderboard.robustness.rst", "leaderboard.robustness.criteria.rst", "leaderboard.simulation.rst", "modules.rst", "software_structure.rst", "software_structure.controller.rst", "software_structure.modelparameters.rst", "software_structure.trajectorydata.rst"], "titles": ["Control Methods", "Model Predictive Control (MPC)", "Iterative Linear Quadratic Regulator (iLQR) MPC", "Policy-based Control", "Deep-Q Learning (DQN)", "Linear Quadratic Regulator (LQR)", "Partial Feedback Linearization (PFL)", "Soft Actor Critic (SAC)", "Trajectory Optimization", "Direct Collocation", "Iterative 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"module-double_pendulum.experiments"]], "double_pendulum.experiments.experimental_utils": [[34, "module-double_pendulum.experiments.experimental_utils"]], "double_pendulum.experiments.hardware_control_loop_mjbots": [[34, "module-double_pendulum.experiments.hardware_control_loop_mjbots"]], "double_pendulum.experiments.hardware_control_loop_tmotors": [[34, "module-double_pendulum.experiments.hardware_control_loop_tmotors"]], "double_pendulum.experiments.performance_profiler": [[34, "module-double_pendulum.experiments.performance_profiler"]], "double_pendulum.experiments.video_recording": [[34, "module-double_pendulum.experiments.video_recording"]], "double_pendulum.filter": [[35, "module-double_pendulum.filter"]], "double_pendulum.filter.abstract_filter": [[35, "module-double_pendulum.filter.abstract_filter"]], "double_pendulum.filter.butterworth": [[35, "module-double_pendulum.filter.butterworth"]], "double_pendulum.filter.identity": [[35, "module-double_pendulum.filter.identity"]], "double_pendulum.filter.kalman": [[35, "module-double_pendulum.filter.kalman"]], "double_pendulum.filter.lowpass": [[35, "module-double_pendulum.filter.lowpass"]], "double_pendulum.filter.running_mean": [[35, "module-double_pendulum.filter.running_mean"]], "double_pendulum.filter.unscented_kalman": [[35, "module-double_pendulum.filter.unscented_kalman"]], "double_pendulum.model": [[36, "module-double_pendulum.model"]], "double_pendulum.model.friction_matrix": [[36, "module-double_pendulum.model.friction_matrix"]], "double_pendulum.model.model_parameters": [[36, "module-double_pendulum.model.model_parameters"]], "double_pendulum.model.plant": [[36, "module-double_pendulum.model.plant"]], "double_pendulum.model.symbolic_plant": [[36, "module-double_pendulum.model.symbolic_plant"]], "double_pendulum.simulation": [[37, "module-double_pendulum.simulation"]], "double_pendulum.simulation.gym_env": [[37, "module-double_pendulum.simulation.gym_env"]], "double_pendulum.simulation.perturbations": 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"double_pendulum.trajectory_optimization.direct_collocation": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation"]], "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.dircol_utils"]], "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake"]], "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2"]], "double_pendulum.trajectory_optimization.ilqr": [[41, "module-double_pendulum.trajectory_optimization.ilqr"]], "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp": [[41, "module-double_pendulum.trajectory_optimization.ilqr.ilqr_cpp"]], "double_pendulum.trajectory_optimization.ilqr.paropt": [[41, "module-double_pendulum.trajectory_optimization.ilqr.paropt"]], "double_pendulum.utils": [[42, "module-double_pendulum.utils"]], "double_pendulum.utils.cmaes_controller_par_optimizer": [[42, "module-double_pendulum.utils.cmaes_controller_par_optimizer"]], "double_pendulum.utils.csv_trajectory": [[42, "module-double_pendulum.utils.csv_trajectory"]], "double_pendulum.utils.lists": [[42, "module-double_pendulum.utils.lists"]], "double_pendulum.utils.optimization": [[42, "module-double_pendulum.utils.optimization"]], "double_pendulum.utils.pcw_polynomial": [[42, "module-double_pendulum.utils.pcw_polynomial"]], "double_pendulum.utils.plotting": [[42, "module-double_pendulum.utils.plotting"]], "double_pendulum.utils.urdfs": [[42, "module-double_pendulum.utils.urdfs"]], "double_pendulum.utils.wrap_angles": [[42, "module-double_pendulum.utils.wrap_angles"]], "Hardware": [[43, "hardware"]], "Hardware Assembly": [[44, "hardware-assembly"]], "Bill of Materials": [[45, "bill-of-materials"]], "Links": [[45, "links"]], "Electrical Setup": [[46, "electrical-setup"]], "Wiring": [[46, "wiring"]], "Steps for setting up the wiring": [[46, "steps-for-setting-up-the-wiring"]], "backEMF": [[46, "backemf"]], "Safety Notes": [[47, "safety-notes"]], "Motors": [[48, "motors"]], "MJBots": [[49, "mjbots"]], "Initial Setup": [[49, "initial-setup"]], "Communication": [[49, "communication"], [50, "communication"]], "T-Motor (AK-80-6)": [[50, "t-motor-ak-80-6"]], "Physical Parameters of the Actuator": [[50, "physical-parameters-of-the-actuator"]], "Initial Motor Setup": [[50, "initial-motor-setup"]], "Tutorials": [[50, "tutorials"]], "Instructions: R-Link Config Tool": [[50, "instructions-r-link-config-tool"]], "Debugging": [[50, "debugging"]], "CAN Bus wiring": [[50, "can-bus-wiring"]], "Setting up the CAN interface": [[50, "setting-up-the-can-interface"]], "Testing Motor Connection": [[50, "testing-motor-connection"]], "Python Interface": [[50, "python-interface"]], "Internal PD-Controller": [[50, "internal-pd-controller"]], "Testbench Description": [[51, "testbench-description"], [51, "id1"]], "Welcome to Double Pendulum\u2019s documentation!": [[52, "welcome-to-double-pendulum-s-documentation"]], "Table of Contents": [[52, null]], "Indices and tables": [[52, "indices-and-tables"]], "Installation": [[53, "installation"]], "Potential Issues": [[53, "potential-issues"]], "Leaderboards": [[54, "leaderboards"]], "Real System Leaderboard": [[55, "real-system-leaderboard"]], "Creating the Leaderboard": [[55, "creating-the-leaderboard"], [56, "creating-the-leaderboard"], [58, "creating-the-leaderboard"]], "Evaluating your own controller": [[55, "evaluating-your-own-controller"], [56, "evaluating-your-own-controller"], [58, "evaluating-your-own-controller"]], "Robustness Leaderboard": [[56, "robustness-leaderboard"]], "Leaderboard Parameters": [[56, "leaderboard-parameters"], [58, "leaderboard-parameters"]], "Controller Robustness": [[57, "controller-robustness"]], "Simulation Leaderboard": [[58, "simulation-leaderboard"]], "Repository Structure": [[60, "repository-structure"]], "Programming Language": [[60, "programming-language"]], "Repository Overview": [[60, "repository-overview"]], "Controller Class": [[61, "controller-class"]], "Class Methods": [[61, "class-methods"]], "Logging, Filtering and Compensation": [[61, "logging-filtering-and-compensation"]], "Writing your own controller": [[61, "writing-your-own-controller"]], "Model Parameters": [[62, "model-parameters"]], "Trajectory data": [[63, "trajectory-data"]]}, "indexentries": {"double_pendulum": [[15, "module-double_pendulum"]], "module": [[15, "module-double_pendulum"], [16, "module-double_pendulum.analysis"], [16, "module-double_pendulum.analysis.benchmark"], [16, "module-double_pendulum.analysis.benchmark_plot"], [16, "module-double_pendulum.analysis.benchmark_scores"], [16, "module-double_pendulum.analysis.leaderboard"], [16, "module-double_pendulum.analysis.utils"], [17, "module-double_pendulum.controller"], [17, "module-double_pendulum.controller.abstract_controller"], [17, "module-double_pendulum.controller.combined_controller"], [18, "module-double_pendulum.controller.DQN"], [18, "module-double_pendulum.controller.DQN.replay_buffer"], [18, "module-double_pendulum.controller.DQN.utils"], [19, "module-double_pendulum.controller.SAC"], [19, "module-double_pendulum.controller.SAC.SAC_controller"], [20, "module-double_pendulum.controller.energy"], [20, "module-double_pendulum.controller.energy.energy_Xin"], [21, "module-double_pendulum.controller.friction_compensation"], [21, "module-double_pendulum.controller.friction_compensation.friction_compensation_controller"], [22, "module-double_pendulum.controller.gamepad"], [22, "module-double_pendulum.controller.gamepad.gamepad"], [22, "module-double_pendulum.controller.gamepad.gamepad_controller"], [23, "module-double_pendulum.controller.gravity_compensation"], [23, "module-double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller"], [23, "module-double_pendulum.controller.gravity_compensation.gravity_compensation_controller"], [24, "module-double_pendulum.controller.ilqr"], [24, "module-double_pendulum.controller.ilqr.ilqr_mpc_cpp"], [24, "module-double_pendulum.controller.ilqr.paropt"], [25, "module-double_pendulum.controller.inverse_dynamics"], [25, "module-double_pendulum.controller.inverse_dynamics.computed_torque_controller"], [25, "module-double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller"], [26, "module-double_pendulum.controller.lqr"], [26, "module-double_pendulum.controller.lqr.lqr"], [26, "module-double_pendulum.controller.lqr.lqr_controller"], [26, "module-double_pendulum.controller.lqr.lqr_controller_drake"], [27, "module-double_pendulum.controller.lqr.roa"], [27, "module-double_pendulum.controller.lqr.roa.check"], [27, "module-double_pendulum.controller.lqr.roa.ellipsoid"], [27, "module-double_pendulum.controller.lqr.roa.prob_roa"], [28, "module-double_pendulum.controller.mcpilco"], [28, "module-double_pendulum.controller.mcpilco.mcpilco_controller"], [29, "module-double_pendulum.controller.partial_feedback_linearization"], [29, "module-double_pendulum.controller.partial_feedback_linearization.pfl"], [29, "module-double_pendulum.controller.partial_feedback_linearization.symbolic_pfl"], [30, "module-double_pendulum.controller.pid"], [30, "module-double_pendulum.controller.pid.point_pid_controller"], [30, "module-double_pendulum.controller.pid.trajectory_pid_controller"], [31, "module-double_pendulum.controller.random_exploration"], [31, "module-double_pendulum.controller.random_exploration.random_exploration_controller"], [32, "module-double_pendulum.controller.trajectory_following"], [32, "module-double_pendulum.controller.trajectory_following.feed_forward"], [32, "module-double_pendulum.controller.trajectory_following.trajectory_controller"], [33, "module-double_pendulum.controller.tvlqr"], [33, "module-double_pendulum.controller.tvlqr.tvlqr_controller"], [33, "module-double_pendulum.controller.tvlqr.tvlqr_controller_drake"], [34, "module-double_pendulum.experiments"], [34, "module-double_pendulum.experiments.experimental_utils"], [34, "module-double_pendulum.experiments.hardware_control_loop_mjbots"], [34, "module-double_pendulum.experiments.hardware_control_loop_tmotors"], [34, "module-double_pendulum.experiments.performance_profiler"], [34, "module-double_pendulum.experiments.video_recording"], [35, "module-double_pendulum.filter"], [35, "module-double_pendulum.filter.abstract_filter"], [35, "module-double_pendulum.filter.butterworth"], [35, "module-double_pendulum.filter.identity"], [35, "module-double_pendulum.filter.kalman"], [35, "module-double_pendulum.filter.lowpass"], [35, "module-double_pendulum.filter.running_mean"], [35, "module-double_pendulum.filter.unscented_kalman"], [36, "module-double_pendulum.model"], [36, "module-double_pendulum.model.friction_matrix"], [36, "module-double_pendulum.model.model_parameters"], [36, "module-double_pendulum.model.plant"], [36, "module-double_pendulum.model.symbolic_plant"], [37, "module-double_pendulum.simulation"], [37, "module-double_pendulum.simulation.gym_env"], [37, "module-double_pendulum.simulation.perturbations"], [37, "module-double_pendulum.simulation.simulation"], [37, "module-double_pendulum.simulation.visualization"], [38, "module-double_pendulum.system_identification"], [38, "module-double_pendulum.system_identification.loss"], [38, "module-double_pendulum.system_identification.plotting"], [39, "module-double_pendulum.trajectory_optimization"], [40, "module-double_pendulum.trajectory_optimization.direct_collocation"], [40, "module-double_pendulum.trajectory_optimization.direct_collocation.dircol_utils"], [40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake"], [40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2"], [41, "module-double_pendulum.trajectory_optimization.ilqr"], [41, "module-double_pendulum.trajectory_optimization.ilqr.ilqr_cpp"], [41, "module-double_pendulum.trajectory_optimization.ilqr.paropt"], [42, "module-double_pendulum.utils"], [42, "module-double_pendulum.utils.cmaes_controller_par_optimizer"], [42, "module-double_pendulum.utils.csv_trajectory"], [42, "module-double_pendulum.utils.lists"], [42, "module-double_pendulum.utils.optimization"], [42, "module-double_pendulum.utils.pcw_polynomial"], [42, "module-double_pendulum.utils.plotting"], [42, "module-double_pendulum.utils.urdfs"], [42, "module-double_pendulum.utils.wrap_angles"]], "benchmark() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.benchmark"]], "benchmarker (class in double_pendulum.analysis.benchmark)": [[16, "double_pendulum.analysis.benchmark.benchmarker"]], "check_delay_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_delay_robustness"]], "check_goal_success() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_goal_success"]], "check_meas_noise_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_meas_noise_robustness"]], "check_modelpar_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_modelpar_robustness"]], "check_perturbation_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_perturbation_robustness"]], "check_unoise_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_unoise_robustness"]], "check_uresponsiveness_robustness() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.check_uresponsiveness_robustness"]], "compute_cost() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.compute_cost"]], "compute_ref_cost() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.compute_ref_cost"]], "compute_success_measure() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.compute_success_measure"]], "double_pendulum.analysis": [[16, "module-double_pendulum.analysis"]], "double_pendulum.analysis.benchmark": [[16, "module-double_pendulum.analysis.benchmark"]], "double_pendulum.analysis.benchmark_plot": [[16, "module-double_pendulum.analysis.benchmark_plot"]], "double_pendulum.analysis.benchmark_scores": [[16, "module-double_pendulum.analysis.benchmark_scores"]], "double_pendulum.analysis.leaderboard": [[16, "module-double_pendulum.analysis.leaderboard"]], "double_pendulum.analysis.utils": [[16, "module-double_pendulum.analysis.utils"]], "get_delay_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_delay_score"]], "get_energy() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_energy"]], "get_integrated_torque() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_integrated_torque"]], "get_max_tau() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_max_tau"]], "get_measurement_noise_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_measurement_noise_score"]], "get_model_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_model_score"]], "get_par_list() (in module double_pendulum.analysis.utils)": [[16, "double_pendulum.analysis.utils.get_par_list"]], "get_perturbation_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_perturbation_score"]], "get_scores() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_scores"]], "get_swingup_time() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_swingup_time"]], "get_tau_smoothness() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_tau_smoothness"]], "get_torque_cost() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_torque_cost"]], "get_unoise_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_unoise_score"]], "get_uresponsiveness_score() (in module double_pendulum.analysis.benchmark_scores)": [[16, "double_pendulum.analysis.benchmark_scores.get_uresponsiveness_score"]], "get_velocity_cost() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.get_velocity_cost"]], "leaderboard_scores() (in module double_pendulum.analysis.leaderboard)": [[16, "double_pendulum.analysis.leaderboard.leaderboard_scores"]], "plot_benchmark_results() (in module double_pendulum.analysis.benchmark_plot)": [[16, "double_pendulum.analysis.benchmark_plot.plot_benchmark_results"]], "plot_model_robustness_multi() (in module double_pendulum.analysis.benchmark_plot)": [[16, "double_pendulum.analysis.benchmark_plot.plot_model_robustness_multi"]], "save() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.save"]], "set_cost_par() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.set_cost_par"]], "set_init_traj() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.set_init_traj"]], "set_model_parameter() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.set_model_parameter"]], "simulate_and_get_cost() (double_pendulum.analysis.benchmark.benchmarker method)": [[16, "double_pendulum.analysis.benchmark.benchmarker.simulate_and_get_cost"]], "abstractcontroller (class in double_pendulum.controller.abstract_controller)": [[17, "double_pendulum.controller.abstract_controller.AbstractController"]], "combinedcontroller (class in double_pendulum.controller.combined_controller)": [[17, "double_pendulum.controller.combined_controller.CombinedController"]], "simultaneouscontrollers (class in double_pendulum.controller.combined_controller)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers"]], "double_pendulum.controller": [[17, "module-double_pendulum.controller"]], "double_pendulum.controller.abstract_controller": [[17, "module-double_pendulum.controller.abstract_controller"]], "double_pendulum.controller.combined_controller": [[17, "module-double_pendulum.controller.combined_controller"]], "get_control_output() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_control_output"]], "get_control_output_() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.get_control_output_"]], "get_forecast() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_forecast"]], "get_forecast() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.get_forecast"]], "get_forecast() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.get_forecast"]], "get_friction_torque() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_friction_torque"]], "get_gravity_torque() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_gravity_torque"]], "get_init_trajectory() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.get_init_trajectory"]], "get_init_trajectory() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.get_init_trajectory"]], "get_init_trajectory() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.get_init_trajectory"]], "init() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.init"]], "init_() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.init_"]], "init_() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.init_"]], "init_() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.init_"]], "reset() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.reset"]], "reset_() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.reset_"]], "reset_() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.reset_"]], "save() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.save"]], "save_() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.save_"]], "save_() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.save_"]], "set_filter() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_filter"]], "set_friction_compensation() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_friction_compensation"]], "set_goal() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_goal"]], "set_goal() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.set_goal"]], "set_goal() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.set_goal"]], "set_gravity_compensation() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_gravity_compensation"]], "set_parameters() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_parameters"]], "set_parameters() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.set_parameters"]], "set_parameters() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.set_parameters"]], "set_start() (double_pendulum.controller.abstract_controller.abstractcontroller method)": [[17, "double_pendulum.controller.abstract_controller.AbstractController.set_start"]], "set_start() (double_pendulum.controller.combined_controller.combinedcontroller method)": [[17, "double_pendulum.controller.combined_controller.CombinedController.set_start"]], "set_start() (double_pendulum.controller.combined_controller.simultaneouscontrollers method)": [[17, "double_pendulum.controller.combined_controller.SimultaneousControllers.set_start"]], "replaybuffer (class in double_pendulum.controller.dqn.replay_buffer)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer"]], "add() (double_pendulum.controller.dqn.replay_buffer.replaybuffer method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.add"]], "create_batch() (double_pendulum.controller.dqn.replay_buffer.replaybuffer static method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.create_batch"]], "double_pendulum.controller.dqn": [[18, "module-double_pendulum.controller.DQN"]], "double_pendulum.controller.dqn.replay_buffer": [[18, "module-double_pendulum.controller.DQN.replay_buffer"]], "double_pendulum.controller.dqn.utils": [[18, "module-double_pendulum.controller.DQN.utils"]], "get_sample_indexes() (double_pendulum.controller.dqn.replay_buffer.replaybuffer method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.get_sample_indexes"]], "load() (double_pendulum.controller.dqn.replay_buffer.replaybuffer method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.load"]], "load_pickled_data() (in module double_pendulum.controller.dqn.utils)": [[18, "double_pendulum.controller.DQN.utils.load_pickled_data"]], "sample_random_batch() (double_pendulum.controller.dqn.replay_buffer.replaybuffer method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.sample_random_batch"]], "save() (double_pendulum.controller.dqn.replay_buffer.replaybuffer method)": [[18, "double_pendulum.controller.DQN.replay_buffer.ReplayBuffer.save"]], "save_pickled_data() (in module double_pendulum.controller.dqn.utils)": [[18, "double_pendulum.controller.DQN.utils.save_pickled_data"]], "saccontroller (class in double_pendulum.controller.sac.sac_controller)": [[19, "double_pendulum.controller.SAC.SAC_controller.SACController"]], "double_pendulum.controller.sac": [[19, "module-double_pendulum.controller.SAC"]], "double_pendulum.controller.sac.sac_controller": [[19, "module-double_pendulum.controller.SAC.SAC_controller"]], "get_control_output_() (double_pendulum.controller.sac.sac_controller.saccontroller method)": [[19, "double_pendulum.controller.SAC.SAC_controller.SACController.get_control_output_"]], "energycontroller (class in double_pendulum.controller.energy.energy_xin)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController"]], "check_parameters() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.check_parameters"]], "double_pendulum.controller.energy": [[20, "module-double_pendulum.controller.energy"]], "double_pendulum.controller.energy.energy_xin": [[20, "module-double_pendulum.controller.energy.energy_Xin"]], "get_control_output_() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.get_control_output_"]], "init_() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.init_"]], "kd_func() (in module double_pendulum.controller.energy.energy_xin)": [[20, "double_pendulum.controller.energy.energy_Xin.kd_func"]], "save_() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.save_"]], "set_goal() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.set_goal"]], "set_parameters() (double_pendulum.controller.energy.energy_xin.energycontroller method)": [[20, "double_pendulum.controller.energy.energy_Xin.EnergyController.set_parameters"]], "frictioncompensationcontroller (class in double_pendulum.controller.friction_compensation.friction_compensation_controller)": [[21, "double_pendulum.controller.friction_compensation.friction_compensation_controller.FrictionCompensationController"]], "double_pendulum.controller.friction_compensation": [[21, "module-double_pendulum.controller.friction_compensation"]], "double_pendulum.controller.friction_compensation.friction_compensation_controller": [[21, "module-double_pendulum.controller.friction_compensation.friction_compensation_controller"]], "get_control_output_() (double_pendulum.controller.friction_compensation.friction_compensation_controller.frictioncompensationcontroller method)": [[21, "double_pendulum.controller.friction_compensation.friction_compensation_controller.FrictionCompensationController.get_control_output_"]], "save_() (double_pendulum.controller.friction_compensation.friction_compensation_controller.frictioncompensationcontroller method)": [[21, "double_pendulum.controller.friction_compensation.friction_compensation_controller.FrictionCompensationController.save_"]], "gamepad (class in double_pendulum.controller.gamepad.gamepad)": [[22, "double_pendulum.controller.gamepad.gamepad.GamePad"]], "gamepadcontroller (class in double_pendulum.controller.gamepad.gamepad_controller)": [[22, "double_pendulum.controller.gamepad.gamepad_controller.GamepadController"]], "double_pendulum.controller.gamepad": [[22, "module-double_pendulum.controller.gamepad"]], "double_pendulum.controller.gamepad.gamepad": [[22, "module-double_pendulum.controller.gamepad.gamepad"]], "double_pendulum.controller.gamepad.gamepad_controller": [[22, "module-double_pendulum.controller.gamepad.gamepad_controller"]], "get_control_output_() (double_pendulum.controller.gamepad.gamepad_controller.gamepadcontroller method)": [[22, "double_pendulum.controller.gamepad.gamepad_controller.GamepadController.get_control_output_"]], "read() (double_pendulum.controller.gamepad.gamepad.gamepad method)": [[22, "double_pendulum.controller.gamepad.gamepad.GamePad.read"]], "gravitycompensationcontroller (class in double_pendulum.controller.gravity_compensation.gravity_compensation_controller)": [[23, "double_pendulum.controller.gravity_compensation.gravity_compensation_controller.GravityCompensationController"]], "pidgravitycompensationcontroller (class in double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController"]], "double_pendulum.controller.gravity_compensation": [[23, "module-double_pendulum.controller.gravity_compensation"]], "double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller": [[23, "module-double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller"]], "double_pendulum.controller.gravity_compensation.gravity_compensation_controller": [[23, "module-double_pendulum.controller.gravity_compensation.gravity_compensation_controller"]], "get_control_output_() (double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller.pidgravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.gravity_compensation.gravity_compensation_controller.gravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.gravity_compensation_controller.GravityCompensationController.get_control_output_"]], "init_() (double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller.pidgravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController.init_"]], "save_() (double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller.pidgravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController.save_"]], "save_() (double_pendulum.controller.gravity_compensation.gravity_compensation_controller.gravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.gravity_compensation_controller.GravityCompensationController.save_"]], "set_goal() (double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller.pidgravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController.set_goal"]], "set_parameters() (double_pendulum.controller.gravity_compensation.pid_gravity_compensation_controller.pidgravitycompensationcontroller method)": [[23, "double_pendulum.controller.gravity_compensation.PID_gravity_compensation_controller.PIDGravityCompensationController.set_parameters"]], "ilqrmpccppcontroller (class in double_pendulum.controller.ilqr.ilqr_mpc_cpp)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController"]], "compute_init_traj() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.compute_init_traj"]], "double_pendulum.controller.ilqr": [[24, "module-double_pendulum.controller.ilqr"]], "double_pendulum.controller.ilqr.ilqr_mpc_cpp": [[24, "module-double_pendulum.controller.ilqr.ilqr_mpc_cpp"]], "double_pendulum.controller.ilqr.paropt": [[24, "module-double_pendulum.controller.ilqr.paropt"]], "get_control_output_() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.get_control_output_"]], "get_forecast() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.get_forecast"]], "get_init_trajectory() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.get_init_trajectory"]], "ilqrmpc_swingup_loss (class in double_pendulum.controller.ilqr.paropt)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss"]], "init() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss.init"]], "init_() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.init_"]], "load_init_traj() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.load_init_traj"]], "rescale_pars() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss.rescale_pars"]], "save_() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.save_"]], "set_cost_parameters() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_cost_parameters"]], "set_cost_parameters_() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_cost_parameters_"]], "set_final_cost_parameters() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_final_cost_parameters"]], "set_goal() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_goal"]], "set_model_parameters() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss.set_model_parameters"]], "set_parameters() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_parameters"]], "set_parameters() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss.set_parameters"]], "set_start() (double_pendulum.controller.ilqr.ilqr_mpc_cpp.ilqrmpccppcontroller method)": [[24, "double_pendulum.controller.ilqr.ilqr_mpc_cpp.ILQRMPCCPPController.set_start"]], "unscale_pars() (double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss method)": [[24, "double_pendulum.controller.ilqr.paropt.ilqrmpc_swingup_loss.unscale_pars"]], "computedtorquecontroller (class in double_pendulum.controller.inverse_dynamics.computed_torque_controller)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController"]], "inversedynamicscontroller (class in double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller)": [[25, "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController"]], "double_pendulum.controller.inverse_dynamics": [[25, "module-double_pendulum.controller.inverse_dynamics"]], "double_pendulum.controller.inverse_dynamics.computed_torque_controller": [[25, "module-double_pendulum.controller.inverse_dynamics.computed_torque_controller"]], "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller": [[25, "module-double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller"]], "get_control_output_() (double_pendulum.controller.inverse_dynamics.computed_torque_controller.computedtorquecontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.inversedynamicscontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController.get_control_output_"]], "get_init_trajectory() (double_pendulum.controller.inverse_dynamics.computed_torque_controller.computedtorquecontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController.get_init_trajectory"]], "get_init_trajectory() (double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.inversedynamicscontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController.get_init_trajectory"]], "init_() (double_pendulum.controller.inverse_dynamics.computed_torque_controller.computedtorquecontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController.init_"]], "init_() (double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.inversedynamicscontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController.init_"]], "save_() (double_pendulum.controller.inverse_dynamics.computed_torque_controller.computedtorquecontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController.save_"]], "save_() (double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.inversedynamicscontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.inverse_dynamics_ff_controller.InverseDynamicsController.save_"]], "set_parameters() (double_pendulum.controller.inverse_dynamics.computed_torque_controller.computedtorquecontroller method)": [[25, "double_pendulum.controller.inverse_dynamics.computed_torque_controller.ComputedTorqueController.set_parameters"]], "lqrcontroller (class in double_pendulum.controller.lqr.lqr_controller)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController"]], "lqrcontroller (class in double_pendulum.controller.lqr.lqr_controller_drake)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController"]], "lqrcontroller_nonsymbolic (class in double_pendulum.controller.lqr.lqr_controller)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic"]], "dlqr() (in module double_pendulum.controller.lqr.lqr)": [[26, "double_pendulum.controller.lqr.lqr.dlqr"]], "double_pendulum.controller.lqr": [[26, "module-double_pendulum.controller.lqr"]], "double_pendulum.controller.lqr.lqr": [[26, "module-double_pendulum.controller.lqr.lqr"]], "double_pendulum.controller.lqr.lqr_controller": [[26, "module-double_pendulum.controller.lqr.lqr_controller"]], "double_pendulum.controller.lqr.lqr_controller_drake": [[26, "module-double_pendulum.controller.lqr.lqr_controller_drake"]], "get_control_output_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.get_control_output_"]], "get_control_output_() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.get_control_output_"]], "init_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.init_"]], "init_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.init_"]], "init_() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.init_"]], "iterative_riccati() (in module double_pendulum.controller.lqr.lqr)": [[26, "double_pendulum.controller.lqr.lqr.iterative_riccati"]], "lqr() (in module double_pendulum.controller.lqr.lqr)": [[26, "double_pendulum.controller.lqr.lqr.lqr"]], "save_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.save_"]], "save_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.save_"]], "save_() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.save_"]], "set_cost_matrices() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.set_cost_matrices"]], "set_cost_matrices() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.set_cost_matrices"]], "set_cost_matrices() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.set_cost_matrices"]], "set_cost_parameters() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.set_cost_parameters"]], "set_cost_parameters() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.set_cost_parameters"]], "set_cost_parameters() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.set_cost_parameters"]], "set_cost_parameters_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.set_cost_parameters_"]], "set_cost_parameters_() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.set_cost_parameters_"]], "set_cost_parameters_() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.set_cost_parameters_"]], "set_goal() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.set_goal"]], "set_goal() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.set_goal"]], "set_goal() (double_pendulum.controller.lqr.lqr_controller_drake.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller_drake.LQRController.set_goal"]], "set_parameters() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController.set_parameters"]], "set_parameters() (double_pendulum.controller.lqr.lqr_controller.lqrcontroller_nonsymbolic method)": [[26, "double_pendulum.controller.lqr.lqr_controller.LQRController_nonsymbolic.set_parameters"]], "check_x0() (in module double_pendulum.controller.lqr.roa.prob_roa)": [[27, "double_pendulum.controller.lqr.roa.prob_roa.check_x0"]], "compute_roa_prob() (in module double_pendulum.controller.lqr.roa.prob_roa)": [[27, "double_pendulum.controller.lqr.roa.prob_roa.compute_roa_prob"]], "directsphere() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.directSphere"]], "double_pendulum.controller.lqr.roa": [[27, "module-double_pendulum.controller.lqr.roa"]], "double_pendulum.controller.lqr.roa.check": [[27, "module-double_pendulum.controller.lqr.roa.check"]], "double_pendulum.controller.lqr.roa.ellipsoid": [[27, "module-double_pendulum.controller.lqr.roa.ellipsoid"]], "double_pendulum.controller.lqr.roa.prob_roa": [[27, "module-double_pendulum.controller.lqr.roa.prob_roa"]], "getellipseparamsfromquad() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.getEllipseParamsFromQuad"]], "getellipsepatch() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.getEllipsePatch"]], "getellipsepatches() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.getEllipsePatches"]], "lqr_check_ctg (class in double_pendulum.controller.lqr.roa.check)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_ctg"]], "lqr_check_ctg_verification() (in module double_pendulum.controller.lqr.roa.check)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_ctg_verification"]], "lqr_check_epsilon (class in double_pendulum.controller.lqr.roa.check)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_epsilon"]], "lqr_check_epsilon_verification() (in module double_pendulum.controller.lqr.roa.check)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_epsilon_verification"]], "plotellipse() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.plotEllipse"]], "quadform() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.quadForm"]], "rescale_pars() (double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss method)": [[27, "double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss.rescale_pars"]], "roa_prob_loss (class in double_pendulum.controller.lqr.roa.prob_roa)": [[27, "double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss"]], "samplefromellipsoid() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.sampleFromEllipsoid"]], "sim_callback() (double_pendulum.controller.lqr.roa.check.lqr_check_ctg method)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_ctg.sim_callback"]], "sim_callback() (double_pendulum.controller.lqr.roa.check.lqr_check_epsilon method)": [[27, "double_pendulum.controller.lqr.roa.check.lqr_check_epsilon.sim_callback"]], "unscale_pars() (double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss method)": [[27, "double_pendulum.controller.lqr.roa.prob_roa.roa_prob_loss.unscale_pars"]], "volellipsoid() (in module double_pendulum.controller.lqr.roa.ellipsoid)": [[27, "double_pendulum.controller.lqr.roa.ellipsoid.volEllipsoid"]], "controller_muli_out_sum_of_gaussians_with_angles_numpy (class in double_pendulum.controller.mcpilco.mcpilco_controller)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_muli_out_sum_of_Gaussians_with_angles_numpy"]], "controller_multi_policy_sum_of_gaussians_with_angles_numpy (class in double_pendulum.controller.mcpilco.mcpilco_controller)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_multi_policy_sum_of_gaussians_with_angles_numpy"]], "controller_sum_of_gaussians_with_angles_numpy (class in double_pendulum.controller.mcpilco.mcpilco_controller)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_sum_of_Gaussians_with_angles_numpy"]], "double_pendulum.controller.mcpilco": [[28, "module-double_pendulum.controller.mcpilco"]], "double_pendulum.controller.mcpilco.mcpilco_controller": [[28, "module-double_pendulum.controller.mcpilco.mcpilco_controller"]], "get_control_output_() (double_pendulum.controller.mcpilco.mcpilco_controller.controller_muli_out_sum_of_gaussians_with_angles_numpy method)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_muli_out_sum_of_Gaussians_with_angles_numpy.get_control_output_"]], "get_control_output_() (double_pendulum.controller.mcpilco.mcpilco_controller.controller_multi_policy_sum_of_gaussians_with_angles_numpy method)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_multi_policy_sum_of_gaussians_with_angles_numpy.get_control_output_"]], "get_control_output_() (double_pendulum.controller.mcpilco.mcpilco_controller.controller_sum_of_gaussians_with_angles_numpy method)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_sum_of_Gaussians_with_angles_numpy.get_control_output_"]], "get_np_policy() (double_pendulum.controller.mcpilco.mcpilco_controller.controller_muli_out_sum_of_gaussians_with_angles_numpy method)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_muli_out_sum_of_Gaussians_with_angles_numpy.get_np_policy"]], "get_np_policy() (double_pendulum.controller.mcpilco.mcpilco_controller.controller_multi_policy_sum_of_gaussians_with_angles_numpy method)": [[28, "double_pendulum.controller.mcpilco.mcpilco_controller.Controller_multi_policy_sum_of_gaussians_with_angles_numpy.get_np_policy"]], "energyshapingpflandlqrcontroller (class in double_pendulum.controller.partial_feedback_linearization.pfl)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController"]], "energyshapingpflcontroller (class in double_pendulum.controller.partial_feedback_linearization.pfl)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController"]], "symbolicpflandlqrcontroller (class in double_pendulum.controller.partial_feedback_linearization.symbolic_pfl)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController"]], "symbolicpflcontroller (class in double_pendulum.controller.partial_feedback_linearization.symbolic_pfl)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController"]], "double_pendulum.controller.partial_feedback_linearization": [[29, "module-double_pendulum.controller.partial_feedback_linearization"]], "double_pendulum.controller.partial_feedback_linearization.pfl": [[29, "module-double_pendulum.controller.partial_feedback_linearization.pfl"]], "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl": [[29, "module-double_pendulum.controller.partial_feedback_linearization.symbolic_pfl"]], "get_control_output_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.get_control_output_"]], "init_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController.init_"]], "init_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController.init_"]], "init_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.init_"]], "save_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController.save_"]], "save_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController.save_"]], "save_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.save_"]], "set_cost_parameters() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController.set_cost_parameters"]], "set_cost_parameters() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.set_cost_parameters"]], "set_cost_parameters_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController.set_cost_parameters_"]], "set_cost_parameters_() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController.set_cost_parameters_"]], "set_cost_parameters_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController.set_cost_parameters_"]], "set_cost_parameters_() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.set_cost_parameters_"]], "set_goal() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLAndLQRController.set_goal"]], "set_goal() (double_pendulum.controller.partial_feedback_linearization.pfl.energyshapingpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.pfl.EnergyShapingPFLController.set_goal"]], "set_goal() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflandlqrcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLAndLQRController.set_goal"]], "set_goal() (double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.symbolicpflcontroller method)": [[29, "double_pendulum.controller.partial_feedback_linearization.symbolic_pfl.SymbolicPFLController.set_goal"]], "pointpidcontroller (class in double_pendulum.controller.pid.point_pid_controller)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController"]], "trajpidcontroller (class in double_pendulum.controller.pid.trajectory_pid_controller)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController"]], "double_pendulum.controller.pid": [[30, "module-double_pendulum.controller.pid"]], "double_pendulum.controller.pid.point_pid_controller": [[30, "module-double_pendulum.controller.pid.point_pid_controller"]], "double_pendulum.controller.pid.trajectory_pid_controller": [[30, "module-double_pendulum.controller.pid.trajectory_pid_controller"]], "get_control_output_() (double_pendulum.controller.pid.point_pid_controller.pointpidcontroller method)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.pid.trajectory_pid_controller.trajpidcontroller method)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController.get_control_output_"]], "get_init_trajectory() (double_pendulum.controller.pid.trajectory_pid_controller.trajpidcontroller method)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController.get_init_trajectory"]], "init_() (double_pendulum.controller.pid.point_pid_controller.pointpidcontroller method)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController.init_"]], "init_() (double_pendulum.controller.pid.trajectory_pid_controller.trajpidcontroller method)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController.init_"]], "save_() (double_pendulum.controller.pid.point_pid_controller.pointpidcontroller method)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController.save_"]], "save_() (double_pendulum.controller.pid.trajectory_pid_controller.trajpidcontroller method)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController.save_"]], "set_goal() (double_pendulum.controller.pid.point_pid_controller.pointpidcontroller method)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController.set_goal"]], "set_parameters() (double_pendulum.controller.pid.point_pid_controller.pointpidcontroller method)": [[30, "double_pendulum.controller.pid.point_pid_controller.PointPIDController.set_parameters"]], "set_parameters() (double_pendulum.controller.pid.trajectory_pid_controller.trajpidcontroller method)": [[30, "double_pendulum.controller.pid.trajectory_pid_controller.TrajPIDController.set_parameters"]], "controller_random_exploration (class in double_pendulum.controller.random_exploration.random_exploration_controller)": [[31, "double_pendulum.controller.random_exploration.random_exploration_controller.Controller_Random_exploration"]], "double_pendulum.controller.random_exploration": [[31, "module-double_pendulum.controller.random_exploration"]], "double_pendulum.controller.random_exploration.random_exploration_controller": [[31, "module-double_pendulum.controller.random_exploration.random_exploration_controller"]], "get_control_output_() (double_pendulum.controller.random_exploration.random_exploration_controller.controller_random_exploration method)": [[31, "double_pendulum.controller.random_exploration.random_exploration_controller.Controller_Random_exploration.get_control_output_"]], "init_profile() (double_pendulum.controller.random_exploration.random_exploration_controller.controller_random_exploration method)": [[31, "double_pendulum.controller.random_exploration.random_exploration_controller.Controller_Random_exploration.init_profile"]], "feedforwardcontroller (class in double_pendulum.controller.trajectory_following.feed_forward)": [[32, "double_pendulum.controller.trajectory_following.feed_forward.FeedForwardController"]], "trajectorycontroller (class in double_pendulum.controller.trajectory_following.trajectory_controller)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryController"]], "trajectoryinterpcontroller (class in double_pendulum.controller.trajectory_following.trajectory_controller)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController"]], "double_pendulum.controller.trajectory_following": [[32, "module-double_pendulum.controller.trajectory_following"]], "double_pendulum.controller.trajectory_following.feed_forward": [[32, "module-double_pendulum.controller.trajectory_following.feed_forward"]], "double_pendulum.controller.trajectory_following.trajectory_controller": [[32, "module-double_pendulum.controller.trajectory_following.trajectory_controller"]], "get_control_output_() (double_pendulum.controller.trajectory_following.feed_forward.feedforwardcontroller method)": [[32, "double_pendulum.controller.trajectory_following.feed_forward.FeedForwardController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.trajectory_following.trajectory_controller.trajectorycontroller method)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.trajectory_following.trajectory_controller.trajectoryinterpcontroller method)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController.get_control_output_"]], "get_init_trajectory() (double_pendulum.controller.trajectory_following.trajectory_controller.trajectorycontroller method)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryController.get_init_trajectory"]], "get_init_trajectory() (double_pendulum.controller.trajectory_following.trajectory_controller.trajectoryinterpcontroller method)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController.get_init_trajectory"]], "save_() (double_pendulum.controller.trajectory_following.feed_forward.feedforwardcontroller method)": [[32, "double_pendulum.controller.trajectory_following.feed_forward.FeedForwardController.save_"]], "save_() (double_pendulum.controller.trajectory_following.trajectory_controller.trajectoryinterpcontroller method)": [[32, "double_pendulum.controller.trajectory_following.trajectory_controller.TrajectoryInterpController.save_"]], "tvlqrcontroller (class in double_pendulum.controller.tvlqr.tvlqr_controller)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController"]], "tvlqrcontroller (class in double_pendulum.controller.tvlqr.tvlqr_controller_drake)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController"]], "double_pendulum.controller.tvlqr": [[33, "module-double_pendulum.controller.tvlqr"]], "double_pendulum.controller.tvlqr.tvlqr_controller": [[33, "module-double_pendulum.controller.tvlqr.tvlqr_controller"]], "double_pendulum.controller.tvlqr.tvlqr_controller_drake": [[33, "module-double_pendulum.controller.tvlqr.tvlqr_controller_drake"]], "get_control_output_() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.get_control_output_"]], "get_control_output_() (double_pendulum.controller.tvlqr.tvlqr_controller_drake.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController.get_control_output_"]], "get_init_trajectory() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.get_init_trajectory"]], "get_init_trajectory() (double_pendulum.controller.tvlqr.tvlqr_controller_drake.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController.get_init_trajectory"]], "init_() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.init_"]], "init_() (double_pendulum.controller.tvlqr.tvlqr_controller_drake.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController.init_"]], "save_() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.save_"]], "save_() (double_pendulum.controller.tvlqr.tvlqr_controller_drake.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController.save_"]], "set_cost_parameters() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.set_cost_parameters"]], "set_cost_parameters() (double_pendulum.controller.tvlqr.tvlqr_controller_drake.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller_drake.TVLQRController.set_cost_parameters"]], "set_goal() (double_pendulum.controller.tvlqr.tvlqr_controller.tvlqrcontroller method)": [[33, "double_pendulum.controller.tvlqr.tvlqr_controller.TVLQRController.set_goal"]], "videowriterwidget (class in double_pendulum.experiments.video_recording)": [[34, "double_pendulum.experiments.video_recording.VideoWriterWidget"]], "double_pendulum.experiments": [[34, "module-double_pendulum.experiments"]], "double_pendulum.experiments.experimental_utils": [[34, "module-double_pendulum.experiments.experimental_utils"]], "double_pendulum.experiments.hardware_control_loop_mjbots": [[34, "module-double_pendulum.experiments.hardware_control_loop_mjbots"]], "double_pendulum.experiments.hardware_control_loop_tmotors": [[34, "module-double_pendulum.experiments.hardware_control_loop_tmotors"]], "double_pendulum.experiments.performance_profiler": [[34, "module-double_pendulum.experiments.performance_profiler"]], "double_pendulum.experiments.video_recording": [[34, "module-double_pendulum.experiments.video_recording"]], "motor_send_n_commands() (in module double_pendulum.experiments.performance_profiler)": [[34, "double_pendulum.experiments.performance_profiler.motor_send_n_commands"]], "motor_send_n_commands2() (in module double_pendulum.experiments.performance_profiler)": [[34, "double_pendulum.experiments.performance_profiler.motor_send_n_commands2"]], "motor_speed_test() (in module double_pendulum.experiments.performance_profiler)": [[34, "double_pendulum.experiments.performance_profiler.motor_speed_test"]], "motor_speed_test2() (in module double_pendulum.experiments.performance_profiler)": [[34, "double_pendulum.experiments.performance_profiler.motor_speed_test2"]], "profiler() (in module double_pendulum.experiments.performance_profiler)": [[34, "double_pendulum.experiments.performance_profiler.profiler"]], "rad2rev() (in module double_pendulum.experiments.experimental_utils)": [[34, "double_pendulum.experiments.experimental_utils.rad2rev"]], "rev2rad() (in module double_pendulum.experiments.experimental_utils)": [[34, "double_pendulum.experiments.experimental_utils.rev2rad"]], "run_experiment() (in module double_pendulum.experiments.hardware_control_loop_tmotors)": [[34, "double_pendulum.experiments.hardware_control_loop_tmotors.run_experiment"]], "save_data() (in module double_pendulum.experiments.experimental_utils)": [[34, "double_pendulum.experiments.experimental_utils.save_data"]], "save_frame() (double_pendulum.experiments.video_recording.videowriterwidget method)": [[34, "double_pendulum.experiments.video_recording.VideoWriterWidget.save_frame"]], "setzeroposition() (in module double_pendulum.experiments.experimental_utils)": [[34, "double_pendulum.experiments.experimental_utils.setZeroPosition"]], "show_frame() (double_pendulum.experiments.video_recording.videowriterwidget method)": [[34, "double_pendulum.experiments.video_recording.VideoWriterWidget.show_frame"]], "start_recording() (double_pendulum.experiments.video_recording.videowriterwidget method)": [[34, "double_pendulum.experiments.video_recording.VideoWriterWidget.start_recording"]], "update() (double_pendulum.experiments.video_recording.videowriterwidget method)": [[34, 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(double_pendulum.filter.butterworth.butterworth_filter method)": [[35, "double_pendulum.filter.butterworth.butterworth_filter.init_"]], "init_() (double_pendulum.filter.identity.identity_filter method)": [[35, "double_pendulum.filter.identity.identity_filter.init_"]], "init_() (double_pendulum.filter.kalman.kalman_filter method)": [[35, "double_pendulum.filter.kalman.kalman_filter.init_"]], "init_() (double_pendulum.filter.lowpass.lowpass_filter method)": [[35, "double_pendulum.filter.lowpass.lowpass_filter.init_"]], "init_() (double_pendulum.filter.running_mean.runningmean_filter method)": [[35, "double_pendulum.filter.running_mean.runningmean_filter.init_"]], "init_() (double_pendulum.filter.unscented_kalman.unscentedkalman_filter method)": [[35, "double_pendulum.filter.unscented_kalman.unscentedkalman_filter.init_"]], "kalman_filter (class in double_pendulum.filter.kalman)": [[35, "double_pendulum.filter.kalman.kalman_filter"]], "lowpass_filter (class in double_pendulum.filter.lowpass)": [[35, "double_pendulum.filter.lowpass.lowpass_filter"]], "runningmean_filter (class in double_pendulum.filter.running_mean)": [[35, "double_pendulum.filter.running_mean.runningmean_filter"]], "save() (double_pendulum.filter.abstract_filter.abstractfilter method)": [[35, "double_pendulum.filter.abstract_filter.AbstractFilter.save"]], "save_() (double_pendulum.filter.abstract_filter.abstractfilter method)": [[35, "double_pendulum.filter.abstract_filter.AbstractFilter.save_"]], "save_() (double_pendulum.filter.butterworth.butterworth_filter method)": [[35, "double_pendulum.filter.butterworth.butterworth_filter.save_"]], "save_() (double_pendulum.filter.identity.identity_filter method)": [[35, "double_pendulum.filter.identity.identity_filter.save_"]], "save_() (double_pendulum.filter.kalman.kalman_filter method)": [[35, "double_pendulum.filter.kalman.kalman_filter.save_"]], "save_() (double_pendulum.filter.lowpass.lowpass_filter method)": [[35, "double_pendulum.filter.lowpass.lowpass_filter.save_"]], "save_() (double_pendulum.filter.running_mean.runningmean_filter method)": [[35, "double_pendulum.filter.running_mean.runningmean_filter.save_"]], "save_() (double_pendulum.filter.unscented_kalman.unscentedkalman_filter method)": [[35, "double_pendulum.filter.unscented_kalman.unscentedkalman_filter.save_"]], "unscentedkalman_filter (class in double_pendulum.filter.unscented_kalman)": [[35, "double_pendulum.filter.unscented_kalman.unscentedkalman_filter"]], "doublependulumplant (class in double_pendulum.model.plant)": [[36, "double_pendulum.model.plant.DoublePendulumPlant"]], "i1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.I1"]], "i2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.I2"]], "ir_sym (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.Ir_sym"]], "symbolicdoublependulum (class in double_pendulum.model.symbolic_plant)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum"]], "angular_momentum_base() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.angular_momentum_base"]], "angular_momentum_ddot_base() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.angular_momentum_ddot_base"]], "angular_momentum_dot_base() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.angular_momentum_dot_base"]], "b1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.b1"]], "b2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.b2"]], "base (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.base"]], "center_of_mass() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.center_of_mass"]], "cf1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.cf1"]], "cf2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.cf2"]], "com_dot() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.com_dot"]], "coriolis_matrix() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.coriolis_matrix"]], "coriolis_matrix() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.coriolis_matrix"]], "coulomb_vector() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.coulomb_vector"]], "coulomb_vector() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.coulomb_vector"]], "diff_to_matrix() (in module double_pendulum.model.symbolic_plant)": [[36, "double_pendulum.model.symbolic_plant.diff_to_matrix"]], "dof (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.dof"]], "double_pendulum.model": [[36, "module-double_pendulum.model"]], "double_pendulum.model.friction_matrix": [[36, "module-double_pendulum.model.friction_matrix"]], "double_pendulum.model.model_parameters": [[36, "module-double_pendulum.model.model_parameters"]], "double_pendulum.model.plant": [[36, "module-double_pendulum.model.plant"]], "double_pendulum.model.symbolic_plant": [[36, "module-double_pendulum.model.symbolic_plant"]], "equation_of_motion() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.equation_of_motion"]], "forward_dynamics() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.forward_dynamics"]], "forward_dynamics() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.forward_dynamics"]], "forward_kinematics() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.forward_kinematics"]], "forward_kinematics() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.forward_kinematics"]], "g_sym (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.g_sym"]], "get_alin() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Alin"]], "get_blin() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Blin"]], "get_cx() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Cx"]], "get_fx() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Fx"]], "get_gx() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Gx"]], "get_minvx() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Minvx"]], "get_mx() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.get_Mx"]], "get_dict() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.get_dict"]], "gr_sym (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.gr_sym"]], "gravity_vector() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.gravity_vector"]], "gravity_vector() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.gravity_vector"]], "inverse_dynamics() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.inverse_dynamics"]], "kinetic_energy() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.kinetic_energy"]], "kinetic_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.kinetic_energy"]], "l1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.l1"]], "l2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.l2"]], "lambdify_matrices() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.lambdify_matrices"]], "linear_matrices() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.linear_matrices"]], "linear_matrices() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.linear_matrices"]], "linear_matrices_discrete() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.linear_matrices_discrete"]], "load_dict() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.load_dict"]], "load_model() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.load_model"]], "load_yaml() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.load_yaml"]], "m1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.m1"]], "m2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.m2"]], "mass_matrix() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.mass_matrix"]], "mass_matrix() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.mass_matrix"]], "model_parameters (class in double_pendulum.model.model_parameters)": [[36, "double_pendulum.model.model_parameters.model_parameters"]], "n_actuators (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.n_actuators"]], "n_links (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.n_links"]], "potential_energy() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.potential_energy"]], "potential_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.potential_energy"]], "q (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q"]], "q01 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q01"]], "q02 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q02"]], "q0d1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q0d1"]], "q0d2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q0d2"]], "q1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q1"]], "q2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.q2"]], "qd (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qd"]], "qd1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qd1"]], "qd2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qd2"]], "qdd (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qdd"]], "qdd1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qdd1"]], "qdd2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.qdd2"]], "r1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.r1"]], "r2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.r2"]], "replace_parameters() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.replace_parameters"]], "rhs() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.rhs"]], "rhs() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.rhs"]], "save_dict() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.save_dict"]], "set_cfric() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_cfric"]], "set_com() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_com"]], "set_damping() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_damping"]], "set_dof() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_dof"]], "set_gear_ratio() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_gear_ratio"]], "set_gravity() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_gravity"]], "set_inertia() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_inertia"]], "set_length() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_length"]], "set_mass() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_mass"]], "set_motor_inertia() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_motor_inertia"]], "set_torque_limit() (double_pendulum.model.model_parameters.model_parameters method)": [[36, "double_pendulum.model.model_parameters.model_parameters.set_torque_limit"]], "sub_symbols() (in module double_pendulum.model.symbolic_plant)": [[36, "double_pendulum.model.symbolic_plant.sub_symbols"]], "symbolic_coriolis_matrix() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_coriolis_matrix"]], "symbolic_coulomb_vector() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_coulomb_vector"]], "symbolic_gravity_vector() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_gravity_vector"]], "symbolic_kinetic_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_kinetic_energy"]], "symbolic_linear_matrices() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_linear_matrices"]], "symbolic_mass_matrix() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_mass_matrix"]], "symbolic_potential_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_potential_energy"]], "symbolic_total_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.symbolic_total_energy"]], "tl1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.tl1"]], "tl2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.tl2"]], "total_energy() (double_pendulum.model.plant.doublependulumplant method)": [[36, "double_pendulum.model.plant.DoublePendulumPlant.total_energy"]], "total_energy() (double_pendulum.model.symbolic_plant.symbolicdoublependulum method)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.total_energy"]], "u (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u"]], "u0 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u0"]], "u01 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u01"]], "u02 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u02"]], "u1 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u1"]], "u2 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.u2"]], "vector_mult() (in module double_pendulum.model.symbolic_plant)": [[36, "double_pendulum.model.symbolic_plant.vector_mult"]], "x (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.x"]], "x0 (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.x0"]], "xd (double_pendulum.model.symbolic_plant.symbolicdoublependulum attribute)": [[36, "double_pendulum.model.symbolic_plant.SymbolicDoublePendulum.xd"]], "yb_friction_matrix() (in module double_pendulum.model.friction_matrix)": [[36, "double_pendulum.model.friction_matrix.yb_friction_matrix"]], "customenv (class in double_pendulum.simulation.gym_env)": [[37, "double_pendulum.simulation.gym_env.CustomEnv"]], "simulator (class in double_pendulum.simulation.simulation)": [[37, "double_pendulum.simulation.simulation.Simulator"]], "action_space (double_pendulum.simulation.gym_env.customenv attribute)": [[37, "double_pendulum.simulation.gym_env.CustomEnv.action_space"]], "controller_step() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.controller_step"]], "double_pendulum.simulation": [[37, "module-double_pendulum.simulation"]], "double_pendulum.simulation.gym_env": [[37, "module-double_pendulum.simulation.gym_env"]], "double_pendulum.simulation.perturbations": [[37, "module-double_pendulum.simulation.perturbations"]], "double_pendulum.simulation.simulation": [[37, "module-double_pendulum.simulation.simulation"]], "double_pendulum.simulation.visualization": [[37, "module-double_pendulum.simulation.visualization"]], "double_pendulum_dynamics_func (class in double_pendulum.simulation.gym_env)": [[37, "double_pendulum.simulation.gym_env.double_pendulum_dynamics_func"]], "euler_integrator() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.euler_integrator"]], "get_arrow() (in module double_pendulum.simulation.visualization)": [[37, "double_pendulum.simulation.visualization.get_arrow"]], "get_control_u() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.get_control_u"]], "get_gaussian_perturbation_array() (in module double_pendulum.simulation.perturbations)": [[37, "double_pendulum.simulation.perturbations.get_gaussian_perturbation_array"]], "get_measurement() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.get_measurement"]], "get_random_gauss_perturbation_array() (in module double_pendulum.simulation.perturbations)": [[37, "double_pendulum.simulation.perturbations.get_random_gauss_perturbation_array"]], "get_real_applied_u() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.get_real_applied_u"]], "get_state() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.get_state"]], "get_trajectory_data() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.get_trajectory_data"]], "integration() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)": [[37, "double_pendulum.simulation.gym_env.double_pendulum_dynamics_func.integration"]], "normalize_state() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)": [[37, "double_pendulum.simulation.gym_env.double_pendulum_dynamics_func.normalize_state"]], "observation_space (double_pendulum.simulation.gym_env.customenv attribute)": [[37, "double_pendulum.simulation.gym_env.CustomEnv.observation_space"]], "plot_perturbation_array() (in module double_pendulum.simulation.perturbations)": [[37, "double_pendulum.simulation.perturbations.plot_perturbation_array"]], "record_data() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.record_data"]], "render() (double_pendulum.simulation.gym_env.customenv method)": [[37, "double_pendulum.simulation.gym_env.CustomEnv.render"]], "reset() (double_pendulum.simulation.gym_env.customenv method)": [[37, "double_pendulum.simulation.gym_env.CustomEnv.reset"]], "reset() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.reset"]], "reset_data_recorder() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.reset_data_recorder"]], "runge_integrator() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.runge_integrator"]], "set_arrow_properties() (in module double_pendulum.simulation.visualization)": [[37, "double_pendulum.simulation.visualization.set_arrow_properties"]], "set_disturbances() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.set_disturbances"]], "set_measurement_parameters() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.set_measurement_parameters"]], "set_motor_parameters() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.set_motor_parameters"]], "set_process_noise() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.set_process_noise"]], "set_state() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.set_state"]], "simulate() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.simulate"]], "simulate_and_animate() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.simulate_and_animate"]], "step() (double_pendulum.simulation.gym_env.customenv method)": [[37, "double_pendulum.simulation.gym_env.CustomEnv.step"]], "step() (double_pendulum.simulation.simulation.simulator method)": [[37, "double_pendulum.simulation.simulation.Simulator.step"]], "unscale_action() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)": [[37, "double_pendulum.simulation.gym_env.double_pendulum_dynamics_func.unscale_action"]], "unscale_state() (double_pendulum.simulation.gym_env.double_pendulum_dynamics_func method)": [[37, "double_pendulum.simulation.gym_env.double_pendulum_dynamics_func.unscale_state"]], "double_pendulum.system_identification": [[38, "module-double_pendulum.system_identification"]], "double_pendulum.system_identification.loss": [[38, "module-double_pendulum.system_identification.loss"]], "double_pendulum.system_identification.plotting": [[38, "module-double_pendulum.system_identification.plotting"]], "errfunc (class in double_pendulum.system_identification.loss)": [[38, "double_pendulum.system_identification.loss.errfunc"]], "errfunc_nl (class in double_pendulum.system_identification.loss)": [[38, "double_pendulum.system_identification.loss.errfunc_nl"]], "plot_torques() (in module double_pendulum.system_identification.plotting)": [[38, "double_pendulum.system_identification.plotting.plot_torques"]], "rescale_pars() (double_pendulum.system_identification.loss.errfunc method)": [[38, "double_pendulum.system_identification.loss.errfunc.rescale_pars"]], "rescale_pars() (double_pendulum.system_identification.loss.errfunc_nl method)": [[38, "double_pendulum.system_identification.loss.errfunc_nl.rescale_pars"]], "unscale_pars() (double_pendulum.system_identification.loss.errfunc method)": [[38, "double_pendulum.system_identification.loss.errfunc.unscale_pars"]], "unscale_pars() (double_pendulum.system_identification.loss.errfunc_nl method)": [[38, "double_pendulum.system_identification.loss.errfunc_nl.unscale_pars"]], "double_pendulum.trajectory_optimization": [[39, "module-double_pendulum.trajectory_optimization"]], "collocationconstraint() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.dircol method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol.CollocationConstraint"]], "computetrajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.dircol method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol.ComputeTrajectory"]], "dircol (class in double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol"]], "equationofmotion() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.dircol method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol.EquationOfMotion"]], "interpolationconstraint() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.dircol method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol.InterpolationConstraint"]], "mathematicalprogram() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.dircol method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2.DirCol.MathematicalProgram"]], "animate_trajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator.animate_trajectory"]], "animation() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils.animation"]], "compute_trajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator.compute_trajectory"]], "construct_trajectories() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils.construct_trajectories"]], "create_plant_from_urdf() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils.create_plant_from_urdf"]], "dircol_calculator (class in double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator"]], "double_pendulum.trajectory_optimization.direct_collocation": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation"]], "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.dircol_utils"]], "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake"]], "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2": [[40, "module-double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake2"]], "extract_data_from_polynomial() (in module double_pendulum.trajectory_optimization.direct_collocation.dircol_utils)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.dircol_utils.extract_data_from_polynomial"]], "get_trajectory() (double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator method)": [[40, "double_pendulum.trajectory_optimization.direct_collocation.direct_collocation_drake.dircol_calculator.get_trajectory"]], "compute_trajectory() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.compute_trajectory"]], "double_pendulum.trajectory_optimization.ilqr": [[41, "module-double_pendulum.trajectory_optimization.ilqr"]], "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp": [[41, "module-double_pendulum.trajectory_optimization.ilqr.ilqr_cpp"]], "double_pendulum.trajectory_optimization.ilqr.paropt": [[41, "module-double_pendulum.trajectory_optimization.ilqr.paropt"]], "ilqr_calculator (class in double_pendulum.trajectory_optimization.ilqr.ilqr_cpp)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator"]], "ilqr_trajopt_loss (class in double_pendulum.trajectory_optimization.ilqr.paropt)": [[41, "double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss"]], "rescale_pars() (double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)": [[41, "double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss.rescale_pars"]], "save_trajectory_csv() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.save_trajectory_csv"]], "set_cost_parameters() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_cost_parameters"]], "set_cost_parameters_() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_cost_parameters_"]], "set_goal() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_goal"]], "set_model_parameters() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_model_parameters"]], "set_model_parameters() (double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)": [[41, "double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss.set_model_parameters"]], "set_parameters() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_parameters"]], "set_parameters() (double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)": [[41, "double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss.set_parameters"]], "set_start() (double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator method)": [[41, "double_pendulum.trajectory_optimization.ilqr.ilqr_cpp.ilqr_calculator.set_start"]], "unscale_pars() (double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss method)": [[41, "double_pendulum.trajectory_optimization.ilqr.paropt.ilqr_trajopt_loss.unscale_pars"]], "fitpiecewisepolynomial (class in double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial"]], "interpolatematrix (class in double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.InterpolateMatrix"]], "interpolatevector (class in double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.InterpolateVector"]], "resampletrajectory() (in module double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.ResampleTrajectory"]], "cma_optimization() (in module double_pendulum.utils.optimization)": [[42, "double_pendulum.utils.optimization.cma_optimization"]], "concatenate_trajectories() (in module double_pendulum.utils.csv_trajectory)": [[42, "double_pendulum.utils.csv_trajectory.concatenate_trajectories"]], "create_section_poly() (double_pendulum.utils.pcw_polynomial.fitpiecewisepolynomial method)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial.create_section_poly"]], "determin_poly() (double_pendulum.utils.pcw_polynomial.fitpiecewisepolynomial method)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial.determin_poly"]], "double_pendulum.utils": [[42, "module-double_pendulum.utils"]], "double_pendulum.utils.cmaes_controller_par_optimizer": [[42, "module-double_pendulum.utils.cmaes_controller_par_optimizer"]], "double_pendulum.utils.csv_trajectory": [[42, "module-double_pendulum.utils.csv_trajectory"]], "double_pendulum.utils.lists": [[42, "module-double_pendulum.utils.lists"]], "double_pendulum.utils.optimization": [[42, "module-double_pendulum.utils.optimization"]], "double_pendulum.utils.pcw_polynomial": [[42, "module-double_pendulum.utils.pcw_polynomial"]], "double_pendulum.utils.plotting": [[42, "module-double_pendulum.utils.plotting"]], "double_pendulum.utils.urdfs": [[42, "module-double_pendulum.utils.urdfs"]], "double_pendulum.utils.wrap_angles": [[42, "module-double_pendulum.utils.wrap_angles"]], "end_time() (double_pendulum.utils.pcw_polynomial.fitpiecewisepolynomial method)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial.end_time"]], "generate_urdf() (in module double_pendulum.utils.urdfs)": [[42, "double_pendulum.utils.urdfs.generate_urdf"]], "get_value() (double_pendulum.utils.pcw_polynomial.fitpiecewisepolynomial method)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial.get_value"]], "get_value() (double_pendulum.utils.pcw_polynomial.interpolatematrix method)": [[42, "double_pendulum.utils.pcw_polynomial.InterpolateMatrix.get_value"]], "get_value() (double_pendulum.utils.pcw_polynomial.interpolatevector method)": [[42, "double_pendulum.utils.pcw_polynomial.InterpolateVector.get_value"]], "load_kk_values() (in module double_pendulum.utils.csv_trajectory)": [[42, "double_pendulum.utils.csv_trajectory.load_Kk_values"]], "load_trajectory() (in module double_pendulum.utils.csv_trajectory)": [[42, "double_pendulum.utils.csv_trajectory.load_trajectory"]], "load_trajectory_full() (in module double_pendulum.utils.csv_trajectory)": [[42, "double_pendulum.utils.csv_trajectory.load_trajectory_full"]], "obj_to_list() (in module double_pendulum.utils.lists)": [[42, "double_pendulum.utils.lists.obj_to_list"]], "plot_figures() (in module double_pendulum.utils.plotting)": [[42, "double_pendulum.utils.plotting.plot_figures"]], "plot_timeseries() (in module double_pendulum.utils.plotting)": [[42, "double_pendulum.utils.plotting.plot_timeseries"]], "poly1() (in module double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.poly1"]], "poly2() (in module double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.poly2"]], "poly3() (in module double_pendulum.utils.pcw_polynomial)": [[42, "double_pendulum.utils.pcw_polynomial.poly3"]], "remove_namespaces() (in module double_pendulum.utils.urdfs)": [[42, "double_pendulum.utils.urdfs.remove_namespaces"]], "rescale_pars() (double_pendulum.utils.cmaes_controller_par_optimizer.swingup_loss method)": [[42, "double_pendulum.utils.cmaes_controller_par_optimizer.swingup_loss.rescale_pars"]], "rescale_pars() (double_pendulum.utils.cmaes_controller_par_optimizer.traj_opt_loss method)": [[42, "double_pendulum.utils.cmaes_controller_par_optimizer.traj_opt_loss.rescale_pars"]], "save_trajectory() (in module double_pendulum.utils.csv_trajectory)": [[42, "double_pendulum.utils.csv_trajectory.save_trajectory"]], "scipy_par_optimization() (in module double_pendulum.utils.optimization)": [[42, "double_pendulum.utils.optimization.scipy_par_optimization"]], "solve_least_squares() (in module double_pendulum.utils.optimization)": [[42, "double_pendulum.utils.optimization.solve_least_squares"]], "split_data() (double_pendulum.utils.pcw_polynomial.fitpiecewisepolynomial method)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial.split_data"]], "start_time() (double_pendulum.utils.pcw_polynomial.fitpiecewisepolynomial method)": [[42, "double_pendulum.utils.pcw_polynomial.FitPiecewisePolynomial.start_time"]], "swingup_loss (class in double_pendulum.utils.cmaes_controller_par_optimizer)": [[42, "double_pendulum.utils.cmaes_controller_par_optimizer.swingup_loss"]], "traj_opt_loss (class in double_pendulum.utils.cmaes_controller_par_optimizer)": [[42, "double_pendulum.utils.cmaes_controller_par_optimizer.traj_opt_loss"]], "trajectory_properties() (in module double_pendulum.utils.csv_trajectory)": [[42, "double_pendulum.utils.csv_trajectory.trajectory_properties"]], "unscale_pars() (double_pendulum.utils.cmaes_controller_par_optimizer.swingup_loss method)": [[42, "double_pendulum.utils.cmaes_controller_par_optimizer.swingup_loss.unscale_pars"]], "unscale_pars() (double_pendulum.utils.cmaes_controller_par_optimizer.traj_opt_loss method)": [[42, "double_pendulum.utils.cmaes_controller_par_optimizer.traj_opt_loss.unscale_pars"]], "wrap_angles() (in module double_pendulum.utils.wrap_angles)": [[42, "double_pendulum.utils.wrap_angles.wrap_angles"]], "wrap_angles_diff() (in module double_pendulum.utils.wrap_angles)": [[42, "double_pendulum.utils.wrap_angles.wrap_angles_diff"]], "wrap_angles_top() (in module double_pendulum.utils.wrap_angles)": [[42, "double_pendulum.utils.wrap_angles.wrap_angles_top"]]}}) \ No newline at end of file