# iLQR
Implementations of the iLQR algorithm
Based on "Control Limited Differential Dynamic Programming" Tassa, Yuval, Nicolas Mansard, and Emo Todorov, ICRA 2014.
Building on Yuval Tassa's implementation here: http://www.mathworks.com/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization
See here for an intuitive explanation: https://studywolf.wordpress.com/2016/02/03/the-iterative-linear-quadratic-regulator-method/
matlab_Implementations of the iLQR algorithm.zip
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matlab_Implementations of the iLQR algorithm.zip （107个子文件） 
ppark.fig 28KB .gitignore 311B cmaes.m 116KB iLQG.m 15KB demo_car.m 8KB run.m 6KB test_car.m 6KB traj_plot.m 5KB boxQP.m 5KB DiscreteFrechetDist.m 5KB sys_id_bruteForce.m 3KB dynamics.m 3KB replanning_test.m 3KB dynamics.m 3KB ros_traj_publisher.m 3KB back_pass.m 3KB sys_id_record.m 2KB sys_id_tests.m 2KB car_plot.m 2KB car_cost.m 2KB sys_id_plot.m 2KB sys_id.m 2KB plotForwardShoot.m 2KB demo_linear.m 2KB sys_id_parse.m 1KB calc_l.m 1KB calc_ddl_dudu.m 1KB calc_ddl_dxdx.m 1KB forward_pass.m 1KB tire_dyn.m 1KB tire_dyn.m 1KB sys_id_criterion.m 993B calc_ddl_dudx.m 990B tire_dyn_curve.m 899B ForwardShootOptLineSearch.m 867B ForwardShoot.m 733B traj_generator.m 676B inc_steer_sim.m 670B dynamics_finite.m 576B generateOutput.m 499B calc_df_du.m 442B calc_dl_du.m 415B calc_df_dx.m 409B ForwardShootOpt.m 363B calc_dl_dx.m 358B evaluate_cost_traj.m 354B calc_dJ_du.m 340B dynamics_finite.m 339B calc_J.m 202B calc_f.m 180B circle_0518l_025.mat 75KB circle_077r_025.mat 71KB circle_077l_025.mat 61KB circle_02593l_025.mat 58KB steer_ramp_2L.mat 48KB steer_ramp_1L.mat 42KB steer_ramp_2R.mat 38KB steer_ramp_3R.mat 35KB steer_ramp_1R.mat 33KB steer_ramp_4L.mat 32KB ramp1_Right.mat 32KB steer_ramp_3L.mat 32KB steer_ramp_4R_prollybad.mat 32KB ramp_3right.mat 30KB ramp_3left.mat 28KB ramp_3right_v2.mat 27KB ramp1_Left.mat 25KB ramp_2left_v3.mat 25KB ramp_1right.mat 24KB ramp2_Right.mat 24KB ramp_1left.mat 24KB ramp_2left_v2.mat 23KB ramp3_Right2.mat 23KB ramp3_Left.mat 23KB ramp_2right.mat 22KB ramp2_Left.mat 22KB ramp4_Left_1.mat 22KB ramp_2left.mat 22KB ramp3_Right.mat 21KB ramp2_Left.mat 19KB ramp4_Left_2.mat 18KB ramp3_Right.mat 18KB ramp4_Left.mat 18KB ramp4_Right.mat 18KB ramp3_Left.mat 17KB ramp2_Right.mat 17KB ramp4_Right.mat 16KB test.mat 12KB drift_250ms.mat 9KB moose_test_pthr.mat 9KB moose_test_highIz.mat 9KB moose_test_lowIz.mat 9KB moose_test.mat 9KB moose_test_traj.mat 8KB drift_200ms.mat 8KB ppark_traj.mat 6KB parallel_park.mat 5KB traj_avoid.mat 4KB traj_02-12-17_18:31.mat 4KB traj_02-12-17_18:29.mat 4KB共 107 条
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