# rcognita.controllers.CtrlNominal3WRobotNI

class rcognita.controllers.CtrlNominal3WRobotNI(ctrl_gain=10, ctrl_bnds=[], t0=0, sampling_time=0.1)

  Nominal parking controller for NI using disassembled subgradients.

  __init__(ctrl_gain=10, ctrl_bnds=[], t0=0, sampling_time=0.1)

    Initialize self. See help(type(self)) for accurate signature.

  Methods

  `__init__`([ctrl_gain, ctrl_bnds, t0, …]) | Initialize self.
  `compute_LF`(observation) |
  `compute_action`(t, observation) | Compute sampled action.
  `compute_action_vanila`(observation) | Same as `compute_action()`, but without invoking the internal clock.
  `reset`(t0) | Resets controller for use in multi-episode simulation.