control_limited_feasibility_driven_ddp_solver.h

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#ifndef EXOTICA_DDP_SOLVER_CONTROL_LIMITED_FEASIBILITY_DRIVEN_DDP_SOLVER_H_
#define EXOTICA_DDP_SOLVER_CONTROL_LIMITED_FEASIBILITY_DRIVEN_DDP_SOLVER_H_
 
#include <exotica_ddp_solver/control_limited_feasibility_driven_ddp_solver_initializer.h>
#include <exotica_ddp_solver/feasibility_driven_ddp_solver.h>
 
namespace exotica
{
// Control-limited FDDP solver
//  A Direct-Indirect Hybridization Approach to Control-Limited DDP (Mastalli, Merkt, Saumell, Sola, Mansard, Vijayakumar, 2020)
class ControlLimitedFeasibilityDrivenDDPSolver : public AbstractFeasibilityDrivenDDPSolver, public Instantiable<ControlLimitedFeasibilityDrivenDDPSolverInitializer>
{
public:
    void Instantiate(const ControlLimitedFeasibilityDrivenDDPSolverInitializer& init) override;
 
protected:
    void ComputeGains(const int t) override;
 
    void AllocateData() override;
    std::vector<Eigen::MatrixXd> Quu_inv_;
    Eigen::VectorXd du_lb_;
    Eigen::VectorXd du_ub_;
};
}  // namespace exotica
 
#endif  // EXOTICA_DDP_SOLVER_CONTROL_LIMITED_FEASIBILITY_DRIVEN_DDP_SOLVER_H_