(self)
Compute new linear Gaussian controllers.
Compute new linear Gaussian controllers.
Compute new linear Gaussian controllers .
def _update_trajectories(self):
        """
        Compute new linear Gaussian controllers.
        """
        if not hasattr(self, 'new_traj_distr'):
            self.new_traj_distr = [
                self.cur[cond].traj_distr for cond in range(self.M)
            ]
        for cond in range(self.M):
            self.new_traj_distr[cond], self.cur[cond].eta = \
                    self.traj_opt.update(cond, self)
def _update_trajectories ( self ) : if not hasattr ( self , 'new_traj_distr' ) : self . new_traj_distr = [ self . cur [ cond ] . traj_distr for cond in range ( self . M ) ] for cond in range ( self . M ) : self . new_traj_distr [ cond ] , self . cur [ cond ] . eta = self . traj_opt . update ( cond , self )