#include <feasibility_driven_ddp_solver.h>
Inheritance diagram for exotica::FeasibilityDrivenDDPSolver:
Collaboration diagram for exotica::FeasibilityDrivenDDPSolver:
Public Member Functions | |
| void | Instantiate (const FeasibilityDrivenDDPSolverInitializer &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< FeasibilityDrivenDDPSolverInitializer > | |
| void | InstantiateInternal (const Initializer &init) override |
| Initializer | GetInitializerTemplate () override |
| std::vector< Initializer > | GetAllTemplates () const override |
| const FeasibilityDrivenDDPSolverInitializer & | GetParameters () const |
Additional Inherited Members | |
| Public Attributes inherited from exotica::Object | |
| std::string | ns_ |
| std::string | object_name_ |
| bool | debug_ |
| 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... | |
| virtual void | ComputeGains (const int t) |
| void | ForwardPass (const double steplength) |
| double | TryStep (const double steplength) |
| virtual void | AllocateData () |
| 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 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< FeasibilityDrivenDDPSolverInitializer > | |
| FeasibilityDrivenDDPSolverInitializer | parameters_ |
Member Function Documentation
◆ Instantiate()
|
overridevirtual |
Reimplemented from exotica::Instantiable< FeasibilityDrivenDDPSolverInitializer >.
The documentation for this class was generated from the following file:
- /tmp/exotica/exotations/solvers/exotica_ddp_solver/include/exotica_ddp_solver/feasibility_driven_ddp_solver.h
