#include <control_limited_feasibility_driven_ddp_solver.h>

Inheritance diagram for exotica::ControlLimitedFeasibilityDrivenDDPSolver:

Collaboration diagram for exotica::ControlLimitedFeasibilityDrivenDDPSolver:

Public Member Functions
void	Instantiate (const ControlLimitedFeasibilityDrivenDDPSolverInitializer &init) override

Public Member Functions inherited from exotica::AbstractFeasibilityDrivenDDPSolver
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...

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

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

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

Public Member Functions inherited from exotica::AbstractDDPSolver
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 std::vector< Initializer >	GetAllTemplates () const =0

Public Member Functions inherited from exotica::Instantiable< ControlLimitedFeasibilityDrivenDDPSolverInitializer >
void	InstantiateInternal (const Initializer &init) override

Initializer	GetInitializerTemplate () override

std::vector< Initializer >	GetAllTemplates () const override

const ControlLimitedFeasibilityDrivenDDPSolverInitializer &	GetParameters () const

Protected Member Functions
void	ComputeGains (const int t) override

void	AllocateData () override

Protected Member Functions inherited from exotica::AbstractFeasibilityDrivenDDPSolver
void	IncreaseRegularization () override

void	DecreaseRegularization () override

const Eigen::Vector2d &	ExpectedImprovement ()

void	UpdateExpectedImprovement ()

bool	IsNaN (const double value)

void	SetCandidate (const std::vector< Eigen::VectorXd > &xs_warm, const std::vector< Eigen::VectorXd > &us_warm, const bool is_feasible)

double	CheckStoppingCriteria ()

double	CalcDiff ()

bool	ComputeDirection (const bool recalcDiff)

virtual bool	BackwardPassFDDP ()

void	BackwardPass () override
	Computes the control gains for a the trajectory in the associated DynamicTimeIndexedProblem. More...

void	ForwardPass (const double steplength)

double	TryStep (const double steplength)

Protected Member Functions inherited from exotica::AbstractDDPSolver
double	ForwardPass (const double alpha)
	Forward simulates the dynamics using the gains computed in the last BackwardPass;. More...

Protected Attributes
std::vector< Eigen::MatrixXd >	Quu_inv_

Eigen::VectorXd	du_lb_

Eigen::VectorXd	du_ub_

Protected Attributes inherited from exotica::AbstractFeasibilityDrivenDDPSolver
int	NDX_

int	last_T_ = -1

Eigen::MatrixXd	control_limits_

double	initial_regularization_rate_ = 1e-9

bool	clamp_to_control_limits_in_forward_pass_ = false

double	steplength_
	Current applied step-length. More...

Eigen::Vector2d	d_
	LQ approximation of the expected improvement. More...

double	dV_
	Cost reduction obtained by TryStep. More...

double	dVexp_
	Expected cost reduction. More...

double	th_acceptstep_ = 0.1
	Threshold used for accepting step. More...

double	th_stop_ = 1e-9
	Tolerance for stopping the algorithm. More...

double	th_gradient_tolerance_ = 0.
	Gradient tolerance. More...

double	stop_
	Value computed by CheckStoppingCriteria. More...

double	dg_ = 0.

double	dq_ = 0.

double	dv_ = 0.

double	th_acceptnegstep_ = 2.
	Threshold used for accepting step along ascent direction. More...

std::vector< Eigen::VectorXd >	us_

std::vector< Eigen::VectorXd >	xs_

bool	is_feasible_ = false

double	xreg_ = 1e-9
	State regularization. More...

double	ureg_ = 1e-9
	Control regularization. More...

double	regmin_ = 1e-9
	Minimum regularization (will not decrease lower) More...

double	regmax_ = 1e9
	Maximum regularization (to exit by divergence) More...

double	regfactor_ = 10.
	Factor by which the regularization gets increased/decreased. More...

std::vector< Eigen::VectorXd >	xs_try_
	State trajectory computed by line-search procedure. More...

std::vector< Eigen::VectorXd >	us_try_
	Control trajectory computed by line-search procedure. More...

std::vector< Eigen::VectorXd >	dx_

std::vector< Eigen::VectorXd >	fs_
	Gaps/defects between shooting nodes. More...

Eigen::VectorXd	xnext_

Eigen::MatrixXd	FxTVxx_p_

std::vector< Eigen::MatrixXd >	FuTVxx_p_

std::vector< Eigen::MatrixXd >	Qxu_

Eigen::VectorXd	fTVxx_p_

std::vector< Eigen::LDLT< Eigen::MatrixXd > >	Quu_ldlt_

std::vector< Eigen::VectorXd >	Quuk_

double	th_grad_ = 1e-12
	Tolerance of the expected gradient used for testing the step. More...

double	th_stepdec_ = 0.5
	Step-length threshold used to decrease regularization. More...

double	th_stepinc_ = 0.01
	Step-length threshold used to increase regularization. More...

bool	was_feasible_ = false
	Label that indicates in the previous iterate was feasible. More...

Protected Attributes inherited from exotica::AbstractDDPSolver
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

Protected Attributes inherited from exotica::Instantiable< ControlLimitedFeasibilityDrivenDDPSolverInitializer >
ControlLimitedFeasibilityDrivenDDPSolverInitializer	parameters_

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

std::string	object_name_

bool	debug_

Member Function Documentation

◆ AllocateData()

void exotica::ControlLimitedFeasibilityDrivenDDPSolver::AllocateData ( )

overrideprotectedvirtual

Reimplemented from exotica::AbstractFeasibilityDrivenDDPSolver.

◆ ComputeGains()

void exotica::ControlLimitedFeasibilityDrivenDDPSolver::ComputeGains ( const int t )

overrideprotectedvirtual

Reimplemented from exotica::AbstractFeasibilityDrivenDDPSolver.

◆ Instantiate()

void exotica::ControlLimitedFeasibilityDrivenDDPSolver::Instantiate ( const ControlLimitedFeasibilityDrivenDDPSolverInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< ControlLimitedFeasibilityDrivenDDPSolverInitializer >.

Member Data Documentation

◆ du_lb_

Eigen::VectorXd exotica::ControlLimitedFeasibilityDrivenDDPSolver::du_lb_

protected

◆ du_ub_

Eigen::VectorXd exotica::ControlLimitedFeasibilityDrivenDDPSolver::du_ub_

protected

◆ Quu_inv_

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

protected

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ AllocateData()

◆ ComputeGains()

◆ Instantiate()

Member Data Documentation

◆ du_lb_

◆ du_ub_

◆ Quu_inv_