Exotica
analytic_ddp_solver.h
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29 
30 #ifndef EXOTICA_DDP_SOLVER_ANALYTIC_DDP_SOLVER_H_
31 #define EXOTICA_DDP_SOLVER_ANALYTIC_DDP_SOLVER_H_
32 
34 #include <exotica_ddp_solver/analytic_ddp_solver_initializer.h>
35 #include <unsupported/Eigen/CXX11/Tensor>
36 
37 namespace exotica
38 {
39 // \brief DDP solver using the analytic expansion of the value-function Q.
40 // Mayne, D. Q. (1966). "A second-order gradient method of optimizing non-linear discrete time systems".
41 class AnalyticDDPSolver : public AbstractDDPSolver, public Instantiable<AnalyticDDPSolverInitializer>
42 {
43 public:
44  void Instantiate(const AnalyticDDPSolverInitializer& init) override;
45 
46 private:
49  void BackwardPass() override;
50 
51  Eigen::LLT<Eigen::MatrixXd> Quu_llt_;
52 };
53 } // namespace exotica
54 
55 #endif // EXOTICA_DDP_SOLVER_ANALYTIC_DDP_SOLVER_H_
exotica::AnalyticDDPSolver::BackwardPass
void BackwardPass() override
Computes the control gains for a the trajectory in the associated DynamicTimeIndexedProblem.
exotica::Instantiable
Definition: property.h:110
exotica
Definition: cartpole_dynamics_solver.h:38
exotica::AnalyticDDPSolver::Instantiate
void Instantiate(const AnalyticDDPSolverInitializer &init) override
exotica::AbstractDDPSolver
Definition: abstract_ddp_solver.h:43
abstract_ddp_solver.h
exotica::AnalyticDDPSolver::Quu_llt_
Eigen::LLT< Eigen::MatrixXd > Quu_llt_
Definition: analytic_ddp_solver.h:51
exotica::AnalyticDDPSolver
Definition: analytic_ddp_solver.h:41