SolverBoxFDDP Class Reference

Inheritance diagram for SolverBoxFDDP:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SolverBoxFDDP (std::shared_ptr< ShootingProblem > problem)
virtual void	allocateData ()
virtual void	computeGains (const std::size_t t)
virtual void	forwardPass (const double steplength)
const std::vector< Eigen::MatrixXd > &	get_Quu_inv () const
virtual void	resizeData ()
Public Member Functions inherited from SolverFDDP
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	SolverFDDP (std::shared_ptr< ShootingProblem > problem)
	Initialize the FDDP solver.
virtual const Eigen::Vector2d &	expectedImprovement ()
	Return the expected improvement \(dV_{exp}\) from a given current search direction \((\delta\mathbf{x}^k,\delta\mathbf{u}^k)\).
double	get_th_acceptnegstep () const
	Return the threshold used for accepting step along ascent direction.
void	set_th_acceptnegstep (const double th_acceptnegstep)
	Modify the threshold used for accepting step along ascent direction.
virtual bool	solve (const std::vector< Eigen::VectorXd > &init_xs=DEFAULT_VECTOR, const std::vector< Eigen::VectorXd > &init_us=DEFAULT_VECTOR, const std::size_t maxiter=100, const bool is_feasible=false, const double init_reg=NAN)
void	updateExpectedImprovement ()
	Update internal values for computing the expected improvement.

Protected Attributes
std::vector< Eigen::VectorXd >	du_lb_
std::vector< Eigen::VectorXd >	du_ub_
BoxQP	qp_
std::vector< Eigen::MatrixXd >	Quu_inv_
Protected Attributes inherited from SolverFDDP
double	dg_
	Internal data for computing the expected improvement.
double	dq_
	Internal data for computing the expected improvement.
double	dv_
	Internal data for computing the expected improvement.
double	th_acceptnegstep_

Detailed Description

Definition at line 20 of file box-fddp.hpp.

Constructor & Destructor Documentation

SolverBoxFDDP()

SolverBoxFDDP ( std::shared_ptr< ShootingProblem >  problem )

explicit

Definition at line 17 of file box-fddp.cpp.

~SolverBoxFDDP()

~SolverBoxFDDP ( )

virtual

Definition at line 34 of file box-fddp.cpp.

Member Function Documentation

allocateData()

void allocateData ( )

virtual

Definition at line 53 of file box-fddp.cpp.

computeGains()

void computeGains ( const std::size_t  t )

virtual

Definition at line 71 of file box-fddp.cpp.

forwardPass()

void forwardPass ( const double  steplength )

virtual

Reimplemented from SolverFDDP.

Definition at line 106 of file box-fddp.cpp.

resizeData()

void resizeData ( )

virtual

Definition at line 36 of file box-fddp.cpp.

get_Quu_inv()

const std::vector< Eigen::MatrixXd > & get_Quu_inv

(

)

const

Definition at line 199 of file box-fddp.cpp.

Member Data Documentation

qp_

BoxQP qp_

protected

Definition at line 35 of file box-fddp.hpp.

Quu_inv_

std::vector<Eigen::MatrixXd> Quu_inv_

protected

Definition at line 36 of file box-fddp.hpp.

du_lb_

std::vector<Eigen::VectorXd> du_lb_

protected

Definition at line 37 of file box-fddp.hpp.

du_ub_

std::vector<Eigen::VectorXd> du_ub_

protected

Definition at line 38 of file box-fddp.hpp.

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The documentation for this class was generated from the following files:

• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/solvers/box-fddp.hpp
• /root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/src/core/solvers/box-fddp.cpp