Solutions for week 4 and 5

solutions/ex04/discrete_kuramoto_TODO_1.py

+    f_euler = dmodel.f(x, u, k=0)  
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solutions/ex04/discrete_kuramoto_TODO_2.py

+    f_euler_derivative, _ = dmodel.f_jacobian(x, u)
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solutions/ex04/discrete_kuramoto_TODO_3.py

+        next_x, cost, terminated, _, metadata = env.step([u]) 
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solutions/ex04/model_pendulum_TODO_1.py

+    x_dot = model.f([1, 2], [0], t=0) 
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solutions/ex04/model_pendulum_TODO_2.py

+    x_dot_numpy = model.f([1, 2], [0], t=0)  
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solutions/ex04/pid_TODO_1.py

+        e = self.target - x 
+        # if self.e_prior == 0 and self.I == 0:
+        #     self.e_prior = e
+        self.I = self.I + e * self.dt
+        u = self.Kp * e + self.Ki * self.I + self.Kd * (e - self.e_prior)/self.dt
+        self.e_prior = e 
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solutions/ex04/pid_TODO_2.py

+        u = pid.pi(x_cur[0]) 
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solutions/ex04/pid_car_TODO_1.py

+        self.pid_angle = PID(dt=env.discrete_model.dt, Kp=1.0, Ki=0, Kd=0, target=0) 
+        self.pid_velocity = PID(dt=env.discrete_model.dt, Kp=1.5, Ki=0, Kd=0, target=v_target) 
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solutions/ex04/pid_car_TODO_2.py

+        xx = x[5] + x[3] if self.use_both_x5_x3 else x[5] 
+        u = np.asarray([self.pid_angle.pi(xx), self.pid_velocity.pi(x[0])]) 
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solutions/ex04/pid_locomotive_agent_TODO_1.py

+        self.pid = PID(dt=dt, Kp=Kp, Ki=Ki, Kd=Kd, target=target) 
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solutions/ex04/pid_locomotive_agent_TODO_2.py

+        u = self.pid.pi(x[0]) 
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solutions/ex04/pid_lunar_TODO_1.py

+        alt_adj = self.pid_alt.pi( -(np.abs(x[0])- x[1]) ) 
+        ang_adj = self.pid_ang.pi( -((.25 * np.pi) * (x[0] + x[2]) - x[4]) ) 
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solutions/ex04/pid_pendulum_TODO_1.py

+        u = self.pid.pi(x[0])
+        u = np.clip(u, self.env.action_space.low, self.env.action_space.high) 
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solutions/ex04/pid_pendulum_TODO_2.py

+    agent = PIDPendulumAgent(env, dt=env.dt, Kp=12, Ki=0, Kd=2, target_angle=0) 
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solutions/ex04/pid_pendulum_TODO_3.py

+    agent = PIDPendulumAgent(env, dt=env.dt, Kp=12, Ki=2, Kd=2, target_angle=np.pi/6) 
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solutions/ex05/direct_TODO_1.py

+            guess = {k: solutions[i - 1]['fun'][k] for k in ['t0', 'tF', 'x', 'u'] } 
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solutions/ex05/direct_TODO_10.py

+    x_interp = xs[:, k] + tau * fs[:, k] + (tau ** 2 / (2 * hk)) * (fs[:, k + 1] - fs[:, k]) 
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solutions/ex05/direct_TODO_2.py

+        z, z0, z_lb, z_ub = z + xs[k], z0 + list(guess['x'](tk).flat), z_lb + x_low, z_ub + x_high 
+        z, z0, z_lb, z_ub = z + us[k], z0 + list(guess['u'](tk).flat), z_lb + u_low, z_ub + u_high 
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solutions/ex05/direct_TODO_3.py

+    z, z0, z_lb, z_ub = z+[t0], z0+[guess['t0']], z_lb+[model.t0_bound().low[0]], z_ub+[model.t0_bound().high[0]] 
+    z, z0, z_lb, z_ub = z+[tF], z0+[guess['tF']], z_lb+[model.tF_bound().low[0]], z_ub+[model.tF_bound().high[0]] 
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solutions/ex05/direct_TODO_4.py

+        fs.append(model.sym_f(x=xs[k], u=us[k], t=ts[k])) 
+        cs.append(cost.sym_c(x=xs[k], u=us[k], t=ts[k])) 
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