Module ilqr 

Iterative Linear Quadratic Regulator (iLQR) for a unicycle model.

The planner optimizes a finite-horizon state and control trajectory to drive a robot from a start pose to a goal pose.

Reference:

• Weiwei Li, Emanuel Todorov, “Iterative Linear Quadratic Regulator Design for Nonlinear Biological Movement Systems”: https://homes.cs.washington.edu/~todorov/papers/LiICINCO04.pdf

Structs

ILQRConfig

Configuration for the iLQR planner.

ILQRPlanner

iLQR planner for a unicycle model.

ILQRResult

Optimized iLQR trajectory.