Drake: Migrate time-varying LQR from matlab sha

Created on 16 Jun 2018 · 7Comments · Source: RobotLocomotion/drake

Description

Per slack discussion under #dynamics with @hongkai-dai, @RussTedrake, @sherm1, I would like to request the implementation of the time-varying Linear Quadratic Regulator functionality in the C++ version of drake. tvlqr is available in the matlab version of drake, so I guess transferring to c++ shouldn't be too bad.

manipulation

Source

joycezyu

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n.b. original version is here:
https://github.com/RobotLocomotion/drake/blob/last_sha_with_original_matlab/drake/matlab/systems/%40DrakeSystem/tvlqr.m

i can try to do this sometime in the next few days.

RussTedrake on 18 Jun 2018

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All 7 comments

n.b. original version is here:
https://github.com/RobotLocomotion/drake/blob/last_sha_with_original_matlab/drake/matlab/systems/%40DrakeSystem/tvlqr.m

i can try to do this sometime in the next few days.

RussTedrake on 18 Jun 2018

🎉1 👍1

It would be also nice to see runTrajectorySwingUpAndBalance.m in the previous tag in the c++ version of drake.

junhyeokahn on 23 Jun 2018

Any updates on this?

mpetersen94 on 18 Jul 2018

@mpetersen94 We have a hacky-ish version of tvlqr implemented locally. Hope to PR in the near future!

joycezyu on 18 Jul 2018

@joycezyu could you kindly share the pointer of the hacky-ish version?

junhyeokahn on 31 Jul 2018

@junhyeokahn The local version of tvlqr lives in TRI for now due to the legal issues... I will post here if things change

joycezyu on 2 Aug 2018

Have implemented a draft version for TimeVaryingLQR here. Tested with perching glider. Will raise a PR in near future. Linking as it might be helpful for someone to refer meanwhile.