#include <abstract_ddp_solver.h>

Inheritance diagram for exotica::AbstractDDPSolver:

Collaboration diagram for exotica::AbstractDDPSolver:

Public Member Functions
void	Solve (Eigen::MatrixXd &solution) override
	Solves the problem. More...

void	SpecifyProblem (PlanningProblemPtr pointer) override
	Binds the solver to a specific problem which must be pre-initalised. More...

Eigen::VectorXd	GetFeedbackControl (Eigen::VectorXdRefConst x, int t) const override

const std::vector< Eigen::MatrixXd > &	get_Vxx () const

const std::vector< Eigen::VectorXd > &	get_Vx () const

const std::vector< Eigen::MatrixXd > &	get_Qxx () const

const std::vector< Eigen::MatrixXd > &	get_Qux () const

const std::vector< Eigen::MatrixXd > &	get_Quu () const

const std::vector< Eigen::VectorXd > &	get_Qx () const

const std::vector< Eigen::VectorXd > &	get_Qu () const

const std::vector< Eigen::MatrixXd > &	get_K () const

const std::vector< Eigen::VectorXd > &	get_k () const

const std::vector< Eigen::VectorXd > &	get_X_try () const

const std::vector< Eigen::VectorXd > &	get_U_try () const

const std::vector< Eigen::VectorXd > &	get_X_ref () const

const std::vector< Eigen::VectorXd > &	get_U_ref () const

const std::vector< Eigen::MatrixXd > &	get_Quu_inv () const

const std::vector< Eigen::MatrixXd > &	get_fx () const

const std::vector< Eigen::MatrixXd > &	get_fu () const

std::vector< double >	get_control_cost_evolution () const

void	set_control_cost_evolution (const int index, const double cost)

std::vector< double >	get_steplength_evolution () const

std::vector< double >	get_regularization_evolution () const

Public Member Functions inherited from exotica::MotionSolver
	MotionSolver ()=default

virtual	~MotionSolver ()=default

void	InstantiateBase (const Initializer &init) override

PlanningProblemPtr	GetProblem () const

std::string	Print (const std::string &prepend) const override

void	SetNumberOfMaxIterations (int max_iter)

int	GetNumberOfMaxIterations ()

double	GetPlanningTime ()

Public Member Functions inherited from exotica::Object
	Object ()

virtual	~Object ()

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

virtual Initializer	GetInitializerTemplate ()=0

virtual void	InstantiateInternal (const Initializer &init)=0

virtual std::vector< Initializer >	GetAllTemplates () const =0

Protected Member Functions
virtual void	BackwardPass ()=0
	Computes the control gains for a the trajectory in the associated DynamicTimeIndexedProblem. More...

double	ForwardPass (const double alpha)
	Forward simulates the dynamics using the gains computed in the last BackwardPass;. More...

virtual void	IncreaseRegularization ()

virtual void	DecreaseRegularization ()

Protected Attributes
DynamicTimeIndexedShootingProblemPtr	prob_
	Shared pointer to the planning problem. More...

DynamicsSolverPtr	dynamics_solver_
	Shared pointer to the dynamics solver. More...

AbstractDDPSolverInitializer	base_parameters_

Eigen::VectorXd	alpha_space_
	Backtracking line-search steplengths. More...

double	lambda_
	Regularization (Vxx, Quu) More...

int	T_
	Length of shooting problem, i.e., state trajectory. The control trajectory has length T_-1. More...

int	NU_
	Size of control vector. More...

int	NX_
	Size of state vector. More...

int	NDX_
	Size of tangent vector to the state vector. More...

int	NV_
	Size of velocity vector (tangent vector to the configuration) More...

double	dt_
	Integration time-step. More...

double	cost_
	Cost during iteration. More...

double	control_cost_
	Control cost during iteration. More...

double	cost_try_
	Total cost computed by line-search procedure. More...

double	control_cost_try_
	Total control cost computed by line-search procedure. More...

double	cost_prev_
	Cost during previous iteration. More...

double	alpha_best_
	Line-search step taken. More...

double	time_taken_forward_pass_

double	time_taken_backward_pass_

std::vector< Eigen::MatrixXd >	Vxx_
	Hessian of the Value function. More...

std::vector< Eigen::VectorXd >	Vx_
	Gradient of the Value function. More...

std::vector< Eigen::MatrixXd >	Qxx_
	Hessian of the Hamiltonian. More...

std::vector< Eigen::MatrixXd >	Qux_
	Hessian of the Hamiltonian. More...

std::vector< Eigen::MatrixXd >	Quu_
	Hessian of the Hamiltonian. More...

std::vector< Eigen::VectorXd >	Qx_
	Gradient of the Hamiltonian. More...

std::vector< Eigen::VectorXd >	Qu_
	Gradient of the Hamiltonian. More...

std::vector< Eigen::MatrixXd >	K_
	Feedback gains. More...

std::vector< Eigen::VectorXd >	k_
	Feed-forward terms. More...

std::vector< Eigen::VectorXd >	X_try_
	Updated state trajectory during iteration (computed by line-search) More...

std::vector< Eigen::VectorXd >	U_try_
	Updated control trajectory during iteration (computed by line-search) More...

std::vector< Eigen::VectorXd >	X_ref_
	Reference state trajectory for feedback control. More...

std::vector< Eigen::VectorXd >	U_ref_
	Reference control trajectory for feedback control. More...

std::vector< Eigen::MatrixXd >	Quu_inv_
	Inverse of the Hessian of the Hamiltonian. More...

std::vector< Eigen::MatrixXd >	fx_
	Derivative of the dynamics f w.r.t. x. More...

std::vector< Eigen::MatrixXd >	fu_
	Derivative of the dynamics f w.r.t. u. More...

std::vector< double >	control_cost_evolution_
	Evolution of the control cost (control regularization) More...

std::vector< double >	steplength_evolution_
	Evolution of the steplength. More...

std::vector< double >	regularization_evolution_
	Evolution of the regularization (xreg/ureg) More...

Protected Attributes inherited from exotica::MotionSolver
PlanningProblemPtr	problem_

double	planning_time_ = -1

int	max_iterations_ = 100

Additional Inherited Members
Public Attributes inherited from exotica::Object
std::string	ns_

std::string	object_name_

bool	debug_

Member Function Documentation

◆ BackwardPass()

virtual void exotica::AbstractDDPSolver::BackwardPass ( )

protectedpure virtual

Computes the control gains for a the trajectory in the associated DynamicTimeIndexedProblem.

Implemented in exotica::AbstractFeasibilityDrivenDDPSolver, exotica::AnalyticDDPSolver, and exotica::ControlLimitedDDPSolver.

◆ DecreaseRegularization()

virtual void exotica::AbstractDDPSolver::DecreaseRegularization ( )

inlineprotectedvirtual

Reimplemented in exotica::AbstractFeasibilityDrivenDDPSolver.

◆ ForwardPass()

double exotica::AbstractDDPSolver::ForwardPass ( const double alpha )

protected

Forward simulates the dynamics using the gains computed in the last BackwardPass;.

Parameters

alpha	The learning rate.
ref_trajectory	The reference state trajectory.

Returns: The cost associated with the new control and state trajectory.

◆ get_control_cost_evolution()

std::vector<double> exotica::AbstractDDPSolver::get_control_cost_evolution ( ) const

◆ get_fu()

const std::vector<Eigen::MatrixXd>& exotica::AbstractDDPSolver::get_fu ( ) const

◆ get_fx()

const std::vector<Eigen::MatrixXd>& exotica::AbstractDDPSolver::get_fx ( ) const

◆ get_K()

const std::vector<Eigen::MatrixXd>& exotica::AbstractDDPSolver::get_K ( ) const

◆ get_k()

const std::vector<Eigen::VectorXd>& exotica::AbstractDDPSolver::get_k ( ) const

◆ get_Qu()

const std::vector<Eigen::VectorXd>& exotica::AbstractDDPSolver::get_Qu ( ) const

◆ get_Quu()

const std::vector<Eigen::MatrixXd>& exotica::AbstractDDPSolver::get_Quu ( ) const

◆ get_Quu_inv()

const std::vector<Eigen::MatrixXd>& exotica::AbstractDDPSolver::get_Quu_inv ( ) const

◆ get_Qux()

const std::vector<Eigen::MatrixXd>& exotica::AbstractDDPSolver::get_Qux ( ) const

◆ get_Qx()

const std::vector<Eigen::VectorXd>& exotica::AbstractDDPSolver::get_Qx ( ) const

◆ get_Qxx()

const std::vector<Eigen::MatrixXd>& exotica::AbstractDDPSolver::get_Qxx ( ) const

◆ get_regularization_evolution()

std::vector<double> exotica::AbstractDDPSolver::get_regularization_evolution ( ) const

◆ get_steplength_evolution()

std::vector<double> exotica::AbstractDDPSolver::get_steplength_evolution ( ) const

◆ get_U_ref()

const std::vector<Eigen::VectorXd>& exotica::AbstractDDPSolver::get_U_ref ( ) const

◆ get_U_try()

const std::vector<Eigen::VectorXd>& exotica::AbstractDDPSolver::get_U_try ( ) const

◆ get_Vx()

const std::vector<Eigen::VectorXd>& exotica::AbstractDDPSolver::get_Vx ( ) const

◆ get_Vxx()

const std::vector<Eigen::MatrixXd>& exotica::AbstractDDPSolver::get_Vxx ( ) const

◆ get_X_ref()

const std::vector<Eigen::VectorXd>& exotica::AbstractDDPSolver::get_X_ref ( ) const

◆ get_X_try()

const std::vector<Eigen::VectorXd>& exotica::AbstractDDPSolver::get_X_try ( ) const

◆ GetFeedbackControl()

Eigen::VectorXd exotica::AbstractDDPSolver::GetFeedbackControl	(	Eigen::VectorXdRefConst	x,
		int	t
	)		const

overridevirtual

Implements exotica::FeedbackMotionSolver.

◆ IncreaseRegularization()

virtual void exotica::AbstractDDPSolver::IncreaseRegularization ( )

inlineprotectedvirtual

Reimplemented in exotica::AbstractFeasibilityDrivenDDPSolver.

◆ set_control_cost_evolution()

void exotica::AbstractDDPSolver::set_control_cost_evolution	(	const int	index,
		const double	cost
	)

◆ Solve()

void exotica::AbstractDDPSolver::Solve ( Eigen::MatrixXd & solution )

overridevirtual

Solves the problem.

Parameters

solution Returned solution trajectory as a vector of joint configurations.

Implements exotica::MotionSolver.

Reimplemented in exotica::AbstractFeasibilityDrivenDDPSolver.

◆ SpecifyProblem()

void exotica::AbstractDDPSolver::SpecifyProblem ( PlanningProblemPtr pointer )

overridevirtual

Binds the solver to a specific problem which must be pre-initalised.

Parameters

pointer Shared pointer to the motion planning problem

Returns: Successful if the problem is a valid DynamicTimeIndexedProblem

Reimplemented from exotica::MotionSolver.

Reimplemented in exotica::AbstractFeasibilityDrivenDDPSolver.

Member Data Documentation

◆ alpha_best_

double exotica::AbstractDDPSolver::alpha_best_

protected

Line-search step taken.

◆ alpha_space_

Eigen::VectorXd exotica::AbstractDDPSolver::alpha_space_

protected

Backtracking line-search steplengths.

◆ base_parameters_

AbstractDDPSolverInitializer exotica::AbstractDDPSolver::base_parameters_

protected

◆ control_cost_

double exotica::AbstractDDPSolver::control_cost_

protected

Control cost during iteration.

◆ control_cost_evolution_

std::vector<double> exotica::AbstractDDPSolver::control_cost_evolution_

protected

Evolution of the control cost (control regularization)

◆ control_cost_try_

double exotica::AbstractDDPSolver::control_cost_try_

protected

Total control cost computed by line-search procedure.

◆ cost_

double exotica::AbstractDDPSolver::cost_

protected

Cost during iteration.

◆ cost_prev_

double exotica::AbstractDDPSolver::cost_prev_

protected

Cost during previous iteration.

◆ cost_try_

double exotica::AbstractDDPSolver::cost_try_

protected

Total cost computed by line-search procedure.

◆ dt_

double exotica::AbstractDDPSolver::dt_

protected

Integration time-step.

◆ dynamics_solver_

DynamicsSolverPtr exotica::AbstractDDPSolver::dynamics_solver_

protected

Shared pointer to the dynamics solver.

◆ fu_

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::fu_

protected

Derivative of the dynamics f w.r.t. u.

◆ fx_

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::fx_

protected

Derivative of the dynamics f w.r.t. x.

◆ K_

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::K_

protected

Feedback gains.

◆ k_

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::k_

protected

Feed-forward terms.

◆ lambda_

double exotica::AbstractDDPSolver::lambda_

protected

Regularization (Vxx, Quu)

◆ NDX_

int exotica::AbstractDDPSolver::NDX_

protected

Size of tangent vector to the state vector.

◆ NU_

int exotica::AbstractDDPSolver::NU_

protected

Size of control vector.

◆ NV_

int exotica::AbstractDDPSolver::NV_

protected

Size of velocity vector (tangent vector to the configuration)

◆ NX_

int exotica::AbstractDDPSolver::NX_

protected

Size of state vector.

◆ prob_

DynamicTimeIndexedShootingProblemPtr exotica::AbstractDDPSolver::prob_

protected

Shared pointer to the planning problem.

◆ Qu_

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::Qu_

protected

Gradient of the Hamiltonian.

◆ Quu_

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::Quu_

protected

Hessian of the Hamiltonian.

◆ Quu_inv_

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::Quu_inv_

protected

Inverse of the Hessian of the Hamiltonian.

◆ Qux_

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::Qux_

protected

Hessian of the Hamiltonian.

◆ Qx_

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::Qx_

protected

Gradient of the Hamiltonian.

◆ Qxx_

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::Qxx_

protected

Hessian of the Hamiltonian.

◆ regularization_evolution_

std::vector<double> exotica::AbstractDDPSolver::regularization_evolution_

protected

Evolution of the regularization (xreg/ureg)

◆ steplength_evolution_

std::vector<double> exotica::AbstractDDPSolver::steplength_evolution_

protected

Evolution of the steplength.

◆ T_

int exotica::AbstractDDPSolver::T_

protected

Length of shooting problem, i.e., state trajectory. The control trajectory has length T_-1.

◆ time_taken_backward_pass_

double exotica::AbstractDDPSolver::time_taken_backward_pass_

protected

◆ time_taken_forward_pass_

double exotica::AbstractDDPSolver::time_taken_forward_pass_

protected

◆ U_ref_

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::U_ref_

protected

Reference control trajectory for feedback control.

◆ U_try_

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::U_try_

protected

Updated control trajectory during iteration (computed by line-search)

◆ Vx_

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::Vx_

protected

Gradient of the Value function.

◆ Vxx_

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::Vxx_

protected

Hessian of the Value function.

◆ X_ref_

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::X_ref_

protected

Reference state trajectory for feedback control.

◆ X_try_

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::X_try_

protected

Updated state trajectory during iteration (computed by line-search)

The documentation for this class was generated from the following file:

/tmp/exotica/exotations/solvers/exotica_ddp_solver/include/exotica_ddp_solver/abstract_ddp_solver.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ BackwardPass()

◆ DecreaseRegularization()

◆ ForwardPass()

◆ get_control_cost_evolution()

◆ get_fu()

◆ get_fx()

◆ get_K()

◆ get_k()

◆ get_Qu()

◆ get_Quu()

◆ get_Quu_inv()

◆ get_Qux()

◆ get_Qx()

◆ get_Qxx()

◆ get_regularization_evolution()

◆ get_steplength_evolution()

◆ get_U_ref()

◆ get_U_try()

◆ get_Vx()

◆ get_Vxx()

◆ get_X_ref()

◆ get_X_try()

◆ GetFeedbackControl()

◆ IncreaseRegularization()

◆ set_control_cost_evolution()

◆ Solve()

◆ SpecifyProblem()

Member Data Documentation

◆ alpha_best_

◆ alpha_space_

◆ base_parameters_

◆ control_cost_

◆ control_cost_evolution_

◆ control_cost_try_

◆ cost_

◆ cost_prev_

◆ cost_try_

◆ dt_

◆ dynamics_solver_

◆ fu_

◆ fx_

◆ K_

◆ k_

◆ lambda_

◆ NDX_

◆ NU_

◆ NV_

◆ NX_

◆ prob_

◆ Qu_

◆ Quu_

◆ Quu_inv_

◆ Qux_

◆ Qx_

◆ Qxx_

◆ regularization_evolution_

◆ steplength_evolution_

◆ T_

◆ time_taken_backward_pass_

◆ time_taken_forward_pass_

◆ U_ref_

◆ U_try_

◆ Vx_

◆ Vxx_

◆ X_ref_

◆ X_try_