Update the lqr.py file, replacing the inverse matrix operation with a least squares solution. #259
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wang-chen
requested changes
Jul 15, 2023
wang-chen
reviewed
Jul 16, 2023
pypose/module/lqr.py
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| K[...,t,:,:] = Kt = -torch.linalg.lstsq(Quu, Qux).solution | ||
| k[...,t,:] = kt = -torch.linalg.lstsq(Quu, qu.unsqueeze(-1)).\ | ||
| solution.squeeze(-1) |
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How about
from torch.linalg import lstsqthen
K[...,t,:,:] = Kt = -lstsq(Quu, Qux).solution
k[...,t,:] = kt = -lstsq(Quu, qu.unsqueeze(-1)).solution.squeeze(-1)There was a problem hiding this comment.
Thanks for your advice. I've pushed the updated version.
wang-chen
approved these changes
Jul 16, 2023
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