fddp.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_SOLVERS_FDDP_HPP_
#define CROCODDYL_CORE_SOLVERS_FDDP_HPP_
 
#include <Eigen/Cholesky>
#include <vector>
 
#include "crocoddyl/core/solvers/ddp.hpp"
 
namespace crocoddyl {
 
class SolverFDDP : public SolverDDP {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  explicit SolverFDDP(boost::shared_ptr<ShootingProblem> problem);
  virtual ~SolverFDDP();
 
  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);
 
  virtual const Eigen::Vector2d& expectedImprovement();
 
  void updateExpectedImprovement();
  virtual void forwardPass(const double stepLength);
 
  double get_th_acceptnegstep() const;
 
  void set_th_acceptnegstep(const double th_acceptnegstep);
 
 protected:
  double dg_;  
  double dq_;  
  double dv_;  
  double th_acceptnegstep_;  
};
 
}  // namespace crocoddyl
 
#endif  // CROCODDYL_CORE_SOLVERS_FDDP_HPP_