def create_learner(self):
A, B, _ = self.decoder.ssm.get_ssm_matrices(
update_rate=self.decoder.binlen)
Q = np.mat(np.diag([1., 1, 1, 0, 0, 0, 0]))
R = self.cost_fn_scale * np.mat(np.eye(B.shape[1]))
fb_ctrl = feedback_controllers.LQRController(A, B, Q, R)
self.learner = clda.FeedbackControllerLearner(1, fb_ctrl)
self.learn_flag = True
def __init__(self, *args, **kwargs):
self.ssm = StateSpaceEndptVel2D()
A, B, _ = self.ssm.get_ssm_matrices()
Q = np.mat(np.diag([.5, .5, .5, .1, .1, .1, 0]))
R = 10**6 * np.mat(np.eye(B.shape[1]))
self.fb_ctrl = feedback_controllers.LQRController(A, B, Q, R)
super(SimObs, self).__init__(*args, **kwargs)
def __init__(self, *args, **kwargs):
dec_fname = os.path.expandvars('$FA_GROM_DATA/grom20160201_01_RMLC02011515.pkl')
self.decoder = pickle.load(open(dec_fname))
self.ssm = StateSpaceEndptVel2D()
A, B, _ = self.ssm.get_ssm_matrices()
Q = np.mat(np.diag([.5, .5, .5, .1, .1, .1, 0]))
R = 10**6*np.mat(np.eye(B.shape[1]))
self.fb_ctrl = feedback_controllers.LQRController(A, B, Q, R)
super(SimObsCLDA, self).__init__(*args, **kwargs)
def create_learner(self):
F, K = self.decoder.filt.get_sskf()
pos_gain = np.mean(K[[0, 2], :] / K[[3, 5], :])
I = np.mat(np.eye(3))
B = np.mat(np.vstack([pos_gain * I, I, np.zeros(3)]))
A = np.mat(F)
Q = np.mat(np.diag([1., 1, 1, 0, 0, 0, 0]))
R = np.mat(np.eye(3) * 1000)
fb_ctrl = feedback_controllers.LQRController(A, B, Q, R)
self.batch_size = int(self.batch_time / self.decoder.binlen)
self.learner = clda.FeedbackControllerLearner(self.batch_size,
fb_ctrl,
style='additive')
def __init__(self, ssm, Q, R, **kwargs):
'''
Constructor for SSMLFCAssister
Parameters
----------
ssm: riglib.bmi.state_space_models.StateSpace instance
The state-space model's A and B matrices represent the system to be controlled
args: positional arguments
These are ignored (none are necessary)
kwargs: keyword arguments
The constructor must be supplied with the 'kin_chain' kwarg, which must have the attribute 'link_lengths'
This is specific to 'KinematicChain' plants.
Returns
-------
SSMLFCAssister instance
'''
if ssm is None:
raise ValueError("SSMLFCAssister requires a state space model!")
A, B, W = ssm.get_ssm_matrices()
self.lqr_controller = feedback_controllers.LQRController(A, B, Q, R)