1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
2 |
|
|
// BSD 3-Clause License |
3 |
|
|
// |
4 |
|
|
// Copyright (C) 2019-2020, LAAS-CNRS, New York University, |
5 |
|
|
// Max Planck Gesellschaft, University of Edinburgh |
6 |
|
|
// Copyright note valid unless otherwise stated in individual files. |
7 |
|
|
// All rights reserved. |
8 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
9 |
|
|
|
10 |
|
|
#include "solver.hpp" |
11 |
|
|
|
12 |
|
|
#include "crocoddyl/core/solvers/box-ddp.hpp" |
13 |
|
|
#include "crocoddyl/core/solvers/box-fddp.hpp" |
14 |
|
|
#include "crocoddyl/core/solvers/ddp.hpp" |
15 |
|
|
#include "crocoddyl/core/solvers/fddp.hpp" |
16 |
|
|
#ifdef CROCODDYL_WITH_IPOPT |
17 |
|
|
#include "crocoddyl/core/solvers/ipopt.hpp" |
18 |
|
|
#endif |
19 |
|
|
#include "crocoddyl/core/utils/exception.hpp" |
20 |
|
|
|
21 |
|
|
namespace crocoddyl { |
22 |
|
|
namespace unittest { |
23 |
|
|
|
24 |
|
|
const std::vector<SolverTypes::Type> SolverTypes::all(SolverTypes::init_all()); |
25 |
|
|
|
26 |
|
15 |
std::ostream& operator<<(std::ostream& os, SolverTypes::Type type) { |
27 |
✗✓✓✓ ✓✓✗✗
|
15 |
switch (type) { |
28 |
|
|
case SolverTypes::SolverKKT: |
29 |
|
|
os << "SolverKKT"; |
30 |
|
|
break; |
31 |
|
3 |
case SolverTypes::SolverDDP: |
32 |
|
3 |
os << "SolverDDP"; |
33 |
|
3 |
break; |
34 |
|
3 |
case SolverTypes::SolverFDDP: |
35 |
|
3 |
os << "SolverFDDP"; |
36 |
|
3 |
break; |
37 |
|
3 |
case SolverTypes::SolverBoxDDP: |
38 |
|
3 |
os << "SolverBoxDDP"; |
39 |
|
3 |
break; |
40 |
|
3 |
case SolverTypes::SolverBoxFDDP: |
41 |
|
3 |
os << "SolverBoxFDDP"; |
42 |
|
3 |
break; |
43 |
|
|
#ifdef CROCODDYL_WITH_IPOPT |
44 |
|
3 |
case SolverTypes::SolverIpopt: |
45 |
|
3 |
os << "SolverIpopt"; |
46 |
|
3 |
break; |
47 |
|
|
#endif |
48 |
|
|
case SolverTypes::NbSolverTypes: |
49 |
|
|
os << "NbSolverTypes"; |
50 |
|
|
break; |
51 |
|
|
default: |
52 |
|
|
break; |
53 |
|
|
} |
54 |
|
15 |
return os; |
55 |
|
|
} |
56 |
|
|
|
57 |
|
25 |
SolverFactory::SolverFactory() {} |
58 |
|
|
|
59 |
|
25 |
SolverFactory::~SolverFactory() {} |
60 |
|
|
|
61 |
|
40 |
boost::shared_ptr<crocoddyl::SolverAbstract> SolverFactory::create( |
62 |
|
|
SolverTypes::Type solver_type, ActionModelTypes::Type action_type, |
63 |
|
|
size_t T) const { |
64 |
|
40 |
boost::shared_ptr<crocoddyl::SolverAbstract> solver; |
65 |
|
|
boost::shared_ptr<crocoddyl::ActionModelAbstract> model = |
66 |
✓✗✓✗
|
80 |
ActionModelFactory().create(action_type); |
67 |
|
|
boost::shared_ptr<crocoddyl::ActionModelAbstract> model2 = |
68 |
✓✗✓✗
|
80 |
ActionModelFactory().create(action_type, true); |
69 |
|
|
std::vector<boost::shared_ptr<crocoddyl::ActionModelAbstract> > |
70 |
|
80 |
running_models; |
71 |
|
40 |
const size_t halfway = T / 2; |
72 |
✓✓ |
240 |
for (size_t i = 0; i < halfway; ++i) { |
73 |
✓✗ |
200 |
running_models.push_back(model); |
74 |
|
|
} |
75 |
✓✓ |
240 |
for (size_t i = 0; i < T - halfway; ++i) { |
76 |
✓✗ |
200 |
running_models.push_back(model2); |
77 |
|
|
} |
78 |
|
|
|
79 |
|
|
boost::shared_ptr<crocoddyl::ShootingProblem> problem = |
80 |
✓✗ |
40 |
boost::make_shared<crocoddyl::ShootingProblem>(model->get_state()->zero(), |
81 |
✓✗ |
80 |
running_models, model); |
82 |
|
|
|
83 |
✓✓✓✓ ✓✓✗ |
40 |
switch (solver_type) { |
84 |
|
25 |
case SolverTypes::SolverKKT: |
85 |
✓✗ |
25 |
solver = boost::make_shared<crocoddyl::SolverKKT>(problem); |
86 |
|
25 |
break; |
87 |
|
3 |
case SolverTypes::SolverDDP: |
88 |
✓✗ |
3 |
solver = boost::make_shared<crocoddyl::SolverDDP>(problem); |
89 |
|
3 |
break; |
90 |
|
3 |
case SolverTypes::SolverFDDP: |
91 |
✓✗ |
3 |
solver = boost::make_shared<crocoddyl::SolverFDDP>(problem); |
92 |
|
3 |
break; |
93 |
|
3 |
case SolverTypes::SolverBoxDDP: |
94 |
✓✗ |
3 |
solver = boost::make_shared<crocoddyl::SolverBoxDDP>(problem); |
95 |
|
3 |
break; |
96 |
|
3 |
case SolverTypes::SolverBoxFDDP: |
97 |
✓✗ |
3 |
solver = boost::make_shared<crocoddyl::SolverBoxFDDP>(problem); |
98 |
|
3 |
break; |
99 |
|
|
#ifdef CROCODDYL_WITH_IPOPT |
100 |
|
3 |
case SolverTypes::SolverIpopt: |
101 |
✓✗ |
3 |
solver = boost::make_shared<crocoddyl::SolverIpopt>(problem); |
102 |
|
3 |
break; |
103 |
|
|
#endif |
104 |
|
|
default: |
105 |
|
|
throw_pretty(__FILE__ ": Wrong SolverTypes::Type given"); |
106 |
|
|
break; |
107 |
|
|
} |
108 |
|
80 |
return solver; |
109 |
|
|
} |
110 |
|
|
|
111 |
|
|
} // namespace unittest |
112 |
|
|
} // namespace crocoddyl |