#include <ilqr_solver.h>

Inheritance diagram for exotica::ILQRSolver:

Collaboration diagram for exotica::ILQRSolver:

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

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< ILQRSolverInitializer >
void	InstantiateInternal (const Initializer &init) override

Initializer	GetInitializerTemplate () override

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

virtual void	Instantiate (const ILQRSolverInitializer &init)

const ILQRSolverInitializer &	GetParameters () const

Private Member Functions
void	BackwardPass ()
	!< Reference trajectory for feedback control. More...

double	ForwardPass (const double alpha, Eigen::MatrixXdRefConst ref_x, Eigen::MatrixXdRefConst ref_u)
	Forward simulates the dynamics using the gains computed in the last BackwardPass;. More...

Private Attributes
DynamicTimeIndexedShootingProblemPtr	prob_

DynamicsSolverPtr	dynamics_solver_
	!< Shared pointer to the planning problem. More...

std::vector< Eigen::MatrixXd >	K_gains_
	!< Shared pointer to the dynamics solver. More...

std::vector< Eigen::MatrixXd >	Ku_gains_

std::vector< Eigen::MatrixXd >	Kv_gains_

std::vector< Eigen::MatrixXd >	vk_gains_

Eigen::MatrixXd	best_ref_x_
	!< Control gains. More...

Eigen::MatrixXd	best_ref_u_

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

std::string	object_name_

bool	debug_

Protected Attributes inherited from exotica::MotionSolver
PlanningProblemPtr	problem_

double	planning_time_ = -1

int	max_iterations_ = 100

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

Member Function Documentation

◆ BackwardPass()

void exotica::ILQRSolver::BackwardPass ( )

private

!< Reference trajectory for feedback control.

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

◆ ForwardPass()

double exotica::ILQRSolver::ForwardPass	(	const double	alpha,
		Eigen::MatrixXdRefConst	ref_x,
		Eigen::MatrixXdRefConst	ref_u
	)

private

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.

◆ GetFeedbackControl()

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

overridevirtual

Implements exotica::FeedbackMotionSolver.

◆ Solve()

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

overridevirtual

Solves the problem.

Parameters

solution Returned solution trajectory as a vector of joint configurations.

Implements exotica::MotionSolver.

◆ SpecifyProblem()

void exotica::ILQRSolver::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.

Member Data Documentation

◆ best_ref_u_

Eigen::MatrixXd exotica::ILQRSolver::best_ref_u_

private

◆ best_ref_x_

Eigen::MatrixXd exotica::ILQRSolver::best_ref_x_

private

!< Control gains.

◆ dynamics_solver_

DynamicsSolverPtr exotica::ILQRSolver::dynamics_solver_

private

!< Shared pointer to the planning problem.

◆ K_gains_

std::vector<Eigen::MatrixXd> exotica::ILQRSolver::K_gains_

private

!< Shared pointer to the dynamics solver.

◆ Ku_gains_

std::vector<Eigen::MatrixXd> exotica::ILQRSolver::Ku_gains_

private

◆ Kv_gains_

std::vector<Eigen::MatrixXd> exotica::ILQRSolver::Kv_gains_

private

◆ prob_

DynamicTimeIndexedShootingProblemPtr exotica::ILQRSolver::prob_

private

◆ vk_gains_

std::vector<Eigen::MatrixXd> exotica::ILQRSolver::vk_gains_

private

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

/tmp/exotica/exotations/solvers/exotica_ilqr_solver/include/exotica_ilqr_solver/ilqr_solver.h

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ BackwardPass()

◆ ForwardPass()

◆ GetFeedbackControl()

◆ Solve()

◆ SpecifyProblem()

Member Data Documentation

◆ best_ref_u_

◆ best_ref_x_

◆ dynamics_solver_

◆ K_gains_

◆ Ku_gains_

◆ Kv_gains_

◆ prob_

◆ vk_gains_