update lqr examples

hanyas · Aug 11, 2022 · 2c8198a · 2c8198a
1 parent 3d278a1
commit 2c8198a
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/examples/lqr/lq.py b/examples/lqr/lq.py
@@ -36,7 +36,8 @@ def double_integrator(
 ) -> jnp.ndarray:
     A: jnp.ndarray = jnp.array([[0.0, 1.0], [0.0, 0.0]])
     B: jnp.ndarray = jnp.array([[0.0], [1.0]])
-    return A @ state + B @ action
+    c: jnp.ndarray = jnp.array([0.0, 0.0])
+    return A @ state + B @ action + c
 
 
 simulation_step = 0.01

diff --git a/examples/lqr/lq_ioc.py b/examples/lqr/lq_ioc.py
@@ -34,7 +34,8 @@ def double_integrator(
 ) -> jnp.ndarray:
     A: jnp.ndarray = jnp.array([[0.0, 1.0], [0.0, 0.0]])
     B: jnp.ndarray = jnp.array([[0.0], [1.0]])
-    return A @ state + B @ action
+    c: jnp.ndarray = jnp.array([0.0, 0.0])
+    return A @ state + B @ action + c
 
 
 simulation_step = 0.01

diff --git a/examples/maxent_lqr/lq.py b/examples/maxent_lqr/lq.py
@@ -39,7 +39,8 @@ def double_integrator(
 ) -> jnp.ndarray:
     A: jnp.ndarray = jnp.array([[0.0, 1.0], [0.0, 0.0]])
     B: jnp.ndarray = jnp.array([[0.0], [1.0]])
-    return A @ state + B @ action
+    c: jnp.ndarray = jnp.array([0.0, 0.0])
+    return A @ state + B @ action + c
 
 
 simulation_step = 0.01