levenberg_marquardt_solver.h

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//
// Copyright 2018, University of Edinburgh
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#ifndef EXOTICA_LEVENBERG_MARQUARDT_SOLVER_LEVENBERG_MARQUARDT_SOLVER_H_
#define EXOTICA_LEVENBERG_MARQUARDT_SOLVER_LEVENBERG_MARQUARDT_SOLVER_H_
 
#include <exotica_core/motion_solver.h>
#include <exotica_core/problems/unconstrained_end_pose_problem.h>
 
#include <exotica_levenberg_marquardt_solver/levenberg_marquardt_solver_initializer.h>
 
namespace exotica
{
class LevenbergMarquardtSolver : public MotionSolver, public Instantiable<LevenbergMarquardtSolverInitializer>
{
public:
    void Solve(Eigen::MatrixXd& solution) override;
 
    void SpecifyProblem(PlanningProblemPtr pointer) override;
 
private:
    UnconstrainedEndPoseProblemPtr prob_;  
 
    // Pre-allocation of variables used during optimisation
    double lambda_ = 0;                
    Eigen::MatrixXd M_;                
    Eigen::MatrixXd JT_times_J_;       
    Eigen::VectorXd q_;                
    Eigen::VectorXd qd_;               
    Eigen::VectorXd yd_;               
    Eigen::MatrixXd cost_jacobian_;    
    double error_;                     
    double error_prev_;                
    Eigen::LLT<Eigen::MatrixXd> llt_;  
};
}  // namespace exotica
 
#endif  // EXOTICA_LEVENBERG_MARQUARDT_SOLVER_LEVENBERG_MARQUARDT_SOLVER_H_