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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2024, LAAS-CNRS, New York University, |
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// Max Planck Gesellschaft, University of Edinburgh, |
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// Heriot-Watt University |
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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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#include "solver.hpp" |
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#include "crocoddyl/core/solvers/box-ddp.hpp" |
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#include "crocoddyl/core/solvers/box-fddp.hpp" |
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#include "crocoddyl/core/solvers/ddp.hpp" |
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#include "crocoddyl/core/solvers/fddp.hpp" |
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#ifdef CROCODDYL_WITH_IPOPT |
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#include "crocoddyl/core/solvers/ipopt.hpp" |
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#endif |
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namespace crocoddyl { |
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namespace unittest { |
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const std::vector<SolverTypes::Type> SolverTypes::all(SolverTypes::init_all()); |
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std::ostream& operator<<(std::ostream& os, SolverTypes::Type type) { |
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switch (type) { |
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case SolverTypes::SolverKKT: |
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os << "SolverKKT"; |
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break; |
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case SolverTypes::SolverDDP: |
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os << "SolverDDP"; |
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break; |
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case SolverTypes::SolverFDDP: |
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os << "SolverFDDP"; |
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break; |
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case SolverTypes::SolverBoxDDP: |
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os << "SolverBoxDDP"; |
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break; |
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case SolverTypes::SolverBoxFDDP: |
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os << "SolverBoxFDDP"; |
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break; |
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#ifdef CROCODDYL_WITH_IPOPT |
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case SolverTypes::SolverIpopt: |
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os << "SolverIpopt"; |
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break; |
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#endif |
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case SolverTypes::NbSolverTypes: |
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os << "NbSolverTypes"; |
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break; |
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default: |
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break; |
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} |
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return os; |
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} |
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SolverFactory::SolverFactory() {} |
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SolverFactory::~SolverFactory() {} |
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std::shared_ptr<crocoddyl::SolverAbstract> SolverFactory::create( |
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SolverTypes::Type solver_type, |
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std::shared_ptr<crocoddyl::ActionModelAbstract> model, |
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std::shared_ptr<crocoddyl::ActionModelAbstract> model2, |
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std::shared_ptr<crocoddyl::ActionModelAbstract> modelT, size_t T) const { |
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std::shared_ptr<crocoddyl::SolverAbstract> solver; |
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std::vector<std::shared_ptr<crocoddyl::ActionModelAbstract> > running_models; |
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const size_t halfway = T / 2; |
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for (size_t i = 0; i < halfway; ++i) { |
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running_models.push_back(model); |
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} |
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for (size_t i = 0; i < T - halfway; ++i) { |
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running_models.push_back(model2); |
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} |
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std::shared_ptr<crocoddyl::ShootingProblem> problem = |
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std::make_shared<crocoddyl::ShootingProblem>(model->get_state()->zero(), |
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running_models, modelT); |
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switch (solver_type) { |
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case SolverTypes::SolverKKT: |
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solver = std::make_shared<crocoddyl::SolverKKT>(problem); |
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break; |
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case SolverTypes::SolverDDP: |
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solver = std::make_shared<crocoddyl::SolverDDP>(problem); |
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break; |
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case SolverTypes::SolverFDDP: |
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solver = std::make_shared<crocoddyl::SolverFDDP>(problem); |
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break; |
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case SolverTypes::SolverBoxDDP: |
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solver = std::make_shared<crocoddyl::SolverBoxDDP>(problem); |
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break; |
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case SolverTypes::SolverBoxFDDP: |
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solver = std::make_shared<crocoddyl::SolverBoxFDDP>(problem); |
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break; |
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#ifdef CROCODDYL_WITH_IPOPT |
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case SolverTypes::SolverIpopt: |
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solver = std::make_shared<crocoddyl::SolverIpopt>(problem); |
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break; |
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#endif |
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default: |
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throw_pretty(__FILE__ ": Wrong SolverTypes::Type given"); |
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break; |
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} |
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return solver; |
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} |
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} // namespace unittest |
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} // namespace crocoddyl |
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