README

Author: nim65s

README.md

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+iLQRSolver.py is a library used to compute a sequence of control to
+reach a specified point with a specified system and cost function.
+
+In order to use the solver, you have to implement a class which describe
+the dynamic model of the system and another which describe the cost
+function you will use to solve your problem. The attributes and methods
+need to have the same names and return the same things.
+
+# dynamic model
+
+This class is the one which describe the system you want to command. It
+needs to have particular attributes and methods.
+
+### attributes
+
+Two attributes are mandatory for the solver to work.
+
+    self.stateNumber
+    self.commandNumber
+
+stateNumber attribute allow the solver to know how many variable your
+state contains.
+commandNumber specified the number of commands your system have.
+These 2 attributes are supposed to be unsigned integer.
+Both these attributes make the Solver as generic as possible.
+
+### methods
+
+Two methods are mandatory for the solver to work.
+
+```python
+def computeNextState(self,dt,X,U):
+    ''' code here '''
+    return nextX
+
+def def computeAllModelDeriv(self,dt,X,U):
+    ''' code here '''
+    return lx,lxx,lu,luu,lux,lxu
+```
+
+$$\begin{aligned}
+lx &=& \partial  \end{aligned}$$
+
+The solver class need to be instantiated with the dynamic model of the
+system and the cost function you want to apply.
+
+    solver = ILQRSolver(model, costFunction)