| Directory: | ./ |
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| File: | bindings/python/crocoddyl/core/solvers/fddp.cpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 16 | 17 | 94.1% |
| Branches: | 11 | 22 | 50.0% |
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| 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 |
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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 |
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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 |
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10 | .def("solve", &SolverFDDP::solve, |
| 44 |
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10 | SolverFDDP_solves( |
| 45 |
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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 | "describes if convergence was reached.")) | ||
| 70 |
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10 | .def("updateExpectedImprovement", &SolverFDDP::updateExpectedImprovement, |
| 71 | ✗ | bp::return_value_policy<bp::copy_const_reference>(), | |
| 72 |
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20 | bp::args("self"), "Update the expected improvement model\n\n") |
| 73 |
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10 | .add_property("th_acceptNegStep", |
| 74 |
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10 | bp::make_function(&SolverFDDP::get_th_acceptnegstep), |
| 75 |
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20 | bp::make_function(&SolverFDDP::set_th_acceptnegstep), |
| 76 | "threshold for step acceptance in ascent direction") | ||
| 77 |
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10 | .def(CopyableVisitor<SolverFDDP>()); |
| 78 | 10 | } | |
| 79 | |||
| 80 | } // namespace python | ||
| 81 | } // namespace crocoddyl | ||
| 82 |