chc.integrate¶
Stability tier: stable.
Fixed-step explicit integration and zero-order-hold rollout.
rk4_step(dyn, t, x, u, dt)
¶
One classical Runge-Kutta 4 step with the control held constant over the step. A field
that sets part of the action from the state sets it at x.
rollout(dyn, x0, us, dt, t0=0.0)
¶
Roll the dynamics forward under a control sequence.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
us
|
Array
|
control sequence, shape |
required |
Returns:
| Type | Description |
|---|---|
Array
|
State trajectory |