Updated link to personal website. Added cell hiding for implementation of vanilla iLQR

Author: zhangzdd

python/gtsam/examples/iLQRExample.ipynb

@@ -22,7 +22,7 @@
         "This notebook solves a nonlinear optimal control problem using a factor-graph formulation in GTSAM. The objective is to minimize a quadratic cost over a nonlinear dynamical system using a structure similar to iterative Linear Quadratic Regulation (iLQR). The results are compared against results from classical implementation of iLQR recursions.\n",
         "\n",
         "\n",
-        "Author(s): Zhouyu Zhang\n",
+        "Author(s): [Zhouyu Zhang](https://zhangzdd.github.io/zzy_webpage/)\n",
         "\n",
         "<a href=\"https://colab.research.google.com/github/borglab/gtsam/blob/develop/python/gtsam/examples/iLQRExample.ipynb\" target=\"_parent\"><img src=\"https://colab.research.google.com/assets/colab-badge.svg\" alt=\"Open In Colab\"/></a>\n"
       ],
@@ -59,15 +59,15 @@
           "base_uri": "https://localhost:8080/"
         },
         "id": "Oh-8N25oy4Ac",
-        "outputId": "7dde45fb-f84f-4755-f1f9-46f4f2efefe9"
+        "outputId": "26cb87ae-a1d2-4bb2-e4bb-8e4e0f455290"
       },
       "execution_count": 1,
       "outputs": [
         {
           "output_type": "stream",
           "name": "stdout",
           "text": [
-            "\u001b[2K   \u001b[90m━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━\u001b[0m \u001b[32m27.2/27.2 MB\u001b[0m \u001b[31m41.3 MB/s\u001b[0m eta \u001b[36m0:00:00\u001b[0m\n",
+            "\u001b[2K   \u001b[90m━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━━\u001b[0m \u001b[32m27.2/27.2 MB\u001b[0m \u001b[31m18.5 MB/s\u001b[0m eta \u001b[36m0:00:00\u001b[0m\n",
             "\u001b[?25h"
           ]
         }
@@ -202,6 +202,7 @@
     {
       "cell_type": "code",
       "source": [
+        "#@title Classical iLQR Implmenetation (you can skip this if you want)\n",
         "import numpy as np\n",
         "\n",
         "def f(x, u, dt=0.1):\n",
@@ -294,7 +295,8 @@
         "    return x_new, u_traj"
       ],
       "metadata": {
-        "id": "qcjW2zkORq2u"
+        "id": "qcjW2zkORq2u",
+        "cellView": "form"
       },
       "execution_count": 2,
       "outputs": []
@@ -685,7 +687,7 @@
           "height": 1000
         },
         "id": "jBhrjey3_J8u",
-        "outputId": "cd3a137e-960e-417e-d280-4864d4712b75"
+        "outputId": "944bde7e-9f68-4f6f-f030-4912faa6b9aa"
       },
       "execution_count": 3,
       "outputs": [
@@ -752,7 +754,7 @@
           "base_uri": "https://localhost:8080/"
         },
         "id": "udBTRzV_StUf",
-        "outputId": "4d29bad2-7d22-4c98-cd4d-5c0bf2c961ba"
+        "outputId": "277a2806-4e35-4fa1-d7bf-7a4af1bd5a9a"
       },
       "execution_count": 4,
       "outputs": [