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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2020, CNRS-LAAS, University of Edinburgh |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_CORE_SOLVERS_BOX_DDP_HPP_ |
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#define CROCODDYL_CORE_SOLVERS_BOX_DDP_HPP_ |
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#include <Eigen/Cholesky> |
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#include <vector> |
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#include "crocoddyl/core/solvers/box-qp.hpp" |
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#include "crocoddyl/core/solvers/ddp.hpp" |
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namespace crocoddyl { |
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class SolverBoxDDP : public SolverDDP { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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explicit SolverBoxDDP(boost::shared_ptr<ShootingProblem> problem); |
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virtual ~SolverBoxDDP(); |
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virtual void allocateData(); |
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virtual void computeGains(const std::size_t t); |
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virtual void forwardPass(const double steplength); |
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virtual void resizeData(); |
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const std::vector<Eigen::MatrixXd>& get_Quu_inv() const; |
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protected: |
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BoxQP qp_; |
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std::vector<Eigen::MatrixXd> Quu_inv_; |
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std::vector<Eigen::VectorXd> du_lb_; |
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std::vector<Eigen::VectorXd> du_ub_; |
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}; |
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} // namespace crocoddyl |
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#endif // CROCODDYL_CORE_SOLVERS_BOX_DDP_HPP_ |