engine.control.robust_ddp.policy_lut Namespace Reference

Classes
class	PolicyLUT

Functions
"RegularGridInterpolator"	_make_interpolator (List[np.ndarray] axes, np.ndarray u_grid, str bounds_mode="clip")

Detailed Description

Controller policy look-up table (LUT) for DDP stack.

Precomputes optimal control u = [u_F, u_O] over a grid of (P_u_F, P_u_O, F_ref, MR_ref)
and provides fast runtime interpolation. Use when online DDP is too slow.

Function Documentation

_make_interpolator()

"RegularGridInterpolator" engine.control.robust_ddp.policy_lut._make_interpolator ( List[np.ndarray] axes, np.ndarray u_grid, str bounds_mode = "clip" )

protected

Create RegularGridInterpolator for u lookup.

Definition at line 16 of file policy_lut.py.