Module lqr_planner 

LQR-based path planner

Uses a discrete-time double-integrator model with LQR control to generate a smooth path from start to goal. The state is expressed relative to the goal so the LQR drives the error to zero.

Reference: PythonRobotics LQRPlanner by Atsushi Sakai

Structs

LqrPlanner

LQR-based path planner.

LqrPlannerConfig

Configuration for the LQR path planner.