1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
2 |
|
|
// BSD 3-Clause License |
3 |
|
|
// |
4 |
|
|
// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh, |
5 |
|
|
// Heriot-Watt University |
6 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
7 |
|
|
// All rights reserved. |
8 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
9 |
|
|
|
10 |
|
|
#include "crocoddyl/core/solvers/fddp.hpp" |
11 |
|
|
|
12 |
|
|
#include "python/crocoddyl/core/core.hpp" |
13 |
|
|
#include "python/crocoddyl/utils/copyable.hpp" |
14 |
|
|
|
15 |
|
|
namespace crocoddyl { |
16 |
|
|
namespace python { |
17 |
|
|
|
18 |
|
32 |
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SolverFDDP_solves, SolverFDDP::solve, 0, |
19 |
|
|
5) |
20 |
|
|
BOOST_PYTHON_MEMBER_FUNCTION_OVERLOADS(SolverFDDP_computeDirections, |
21 |
|
|
SolverDDP::computeDirection, 0, 1) |
22 |
|
|
|
23 |
|
10 |
void exposeSolverFDDP() { |
24 |
|
10 |
bp::register_ptr_to_python<boost::shared_ptr<SolverFDDP> >(); |
25 |
|
|
|
26 |
✓✗ |
10 |
bp::class_<SolverFDDP, bp::bases<SolverDDP> >( |
27 |
|
|
"SolverFDDP", |
28 |
|
|
"Feasibility-driven DDP (FDDP) solver.\n\n" |
29 |
|
|
"The FDDP solver computes an optimal trajectory and control commands by " |
30 |
|
|
"iterates\n" |
31 |
|
|
"running backward and forward passes. The backward-pass updates locally " |
32 |
|
|
"the\n" |
33 |
|
|
"quadratic approximation of the problem and computes descent direction,\n" |
34 |
|
|
"and the forward-pass rollouts this new policy by integrating the system " |
35 |
|
|
"dynamics\n" |
36 |
|
|
"along a tuple of optimized control commands U*.\n" |
37 |
|
|
":param shootingProblem: shooting problem (list of action models along " |
38 |
|
|
"trajectory.)", |
39 |
✓✗ |
10 |
bp::init<boost::shared_ptr<ShootingProblem> >( |
40 |
|
20 |
bp::args("self", "problem"), |
41 |
|
|
"Initialize the vector dimension.\n\n" |
42 |
|
|
":param problem: shooting problem.")) |
43 |
|
|
.def("solve", &SolverFDDP::solve, |
44 |
✓✗ |
10 |
SolverFDDP_solves( |
45 |
✓✗ |
20 |
bp::args("self", "init_xs", "init_us", "maxiter", "is_feasible", |
46 |
|
|
"init_reg"), |
47 |
|
|
"Compute the optimal trajectory xopt, uopt as lists of T+1 and " |
48 |
|
|
"T terms.\n\n" |
49 |
|
|
"From an initial guess init_xs,init_us (feasible or not), " |
50 |
|
|
"iterate\n" |
51 |
|
|
"over computeDirection and tryStep until stoppingCriteria is " |
52 |
|
|
"below\n" |
53 |
|
|
"threshold. It also describes the globalization strategy used\n" |
54 |
|
|
"during the numerical optimization.\n" |
55 |
|
|
":param init_xs: initial guess for state trajectory with T+1 " |
56 |
|
|
"elements (default [])\n" |
57 |
|
|
":param init_us: initial guess for control trajectory with T " |
58 |
|
|
"elements (default []).\n" |
59 |
|
|
":param maxiter: maximum allowed number of iterations (default " |
60 |
|
|
"100).\n" |
61 |
|
|
":param is_feasible: true if the init_xs are obtained from " |
62 |
|
|
"integrating the init_us (rollout)\n" |
63 |
|
|
"(default False).\n" |
64 |
|
|
":param init_reg: initial guess for the regularization value. " |
65 |
|
|
"Very low values are typical\n" |
66 |
|
|
" used with very good guess points (default " |
67 |
|
|
"1e-9).\n" |
68 |
|
|
":returns the optimal trajectory xopt, uopt and a boolean that " |
69 |
✓✗ |
10 |
"describes if convergence was reached.")) |
70 |
|
|
.def("updateExpectedImprovement", &SolverFDDP::updateExpectedImprovement, |
71 |
|
|
bp::return_value_policy<bp::copy_const_reference>(), |
72 |
✓✗✓✗
|
20 |
bp::args("self"), "Update the expected improvement model\n\n") |
73 |
|
|
.add_property("th_acceptNegStep", |
74 |
✓✗ |
10 |
bp::make_function(&SolverFDDP::get_th_acceptnegstep), |
75 |
✓✗ |
20 |
bp::make_function(&SolverFDDP::set_th_acceptnegstep), |
76 |
✓✗ |
10 |
"threshold for step acceptance in ascent direction") |
77 |
✓✗ |
10 |
.def(CopyableVisitor<SolverFDDP>()); |
78 |
|
10 |
} |
79 |
|
|
|
80 |
|
|
} // namespace python |
81 |
|
|
} // namespace crocoddyl |