control_limited_ddp_solver.h

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#ifndef EXOTICA_DDP_SOLVER_CONTROL_LIMITED_DDP_SOLVER_H_
#define EXOTICA_DDP_SOLVER_CONTROL_LIMITED_DDP_SOLVER_H_
 
#include <exotica_ddp_solver/abstract_ddp_solver.h>
#include <exotica_ddp_solver/control_limited_ddp_solver_initializer.h>
#include <unsupported/Eigen/CXX11/Tensor>
 
namespace exotica
{
// Control-limited DDP solver
//  Control-limited Differential Dynamic Programming (Tassa, Mansard, Todorov, 2014)
class ControlLimitedDDPSolver : public AbstractDDPSolver, public Instantiable<ControlLimitedDDPSolverInitializer>
{
public:
    void Instantiate(const ControlLimitedDDPSolverInitializer& init) override;
 
private:
    void BackwardPass() override;
};
}  // namespace exotica
 
#endif  // EXOTICA_DDP_SOLVER_CONTROL_LIMITED_DDP_SOLVER_H_