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SolverBoxFDDP Class Reference
Inheritance diagram for SolverBoxFDDP:
SolverFDDP

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW SolverBoxFDDP (boost::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 (boost::shared_ptr< ShootingProblem > problem)
 Initialize the FDDP solver. More...
 
virtual const Eigen::Vector2d & expectedImprovement ()
 Return the expected improvement \(dV_{exp}\) from a given current search direction \((\delta\mathbf{x}^k,\delta\mathbf{u}^k)\). More...
 
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.

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