1 |
|
|
#include <sys/time.h> |
2 |
|
|
#include <time.h> |
3 |
|
|
|
4 |
|
|
#include <ddp-actuator-solver/ddpsolver.hh> |
5 |
|
|
#include <fstream> |
6 |
|
|
#include <iostream> |
7 |
|
|
|
8 |
|
|
#include "ddp-actuator-solver/inverse_pendulum/costIP.hh" |
9 |
|
|
#include "ddp-actuator-solver/inverse_pendulum/modelIP.hh" |
10 |
|
|
|
11 |
|
|
using namespace std; |
12 |
|
|
using namespace Eigen; |
13 |
|
|
|
14 |
|
|
int main() { |
15 |
|
|
struct timeval tbegin, tend; |
16 |
|
|
double texec = 0.0; |
17 |
|
|
DDPSolver<double, 5, 1>::stateVec_t xinit, xDes, x; |
18 |
|
|
DDPSolver<double, 5, 1>::commandVec_t u; |
19 |
|
|
|
20 |
|
|
xinit << -1.0, 0.0, -100.0, 0.0, 0.0; |
21 |
|
|
xDes << 0.5, 0.0, 0.0, 0.0, 0.0; |
22 |
|
|
|
23 |
|
|
unsigned int i; |
24 |
|
|
unsigned int T = 3000; |
25 |
|
|
double dt = 1e-3; |
26 |
|
|
unsigned int iterMax = 100; |
27 |
|
|
double stopCrit = 0.01; |
28 |
|
|
DDPSolver<double, 5, 1>::stateVecTab_t xList; |
29 |
|
|
DDPSolver<double, 5, 1>::commandVecTab_t uList; |
30 |
|
|
DDPSolver<double, 5, 1>::traj lastTraj; |
31 |
|
|
|
32 |
|
|
ModelIP model(dt); |
33 |
|
|
ModelIP* noisyModel = NULL; |
34 |
|
|
CostIP cost; |
35 |
|
|
DDPSolver<double, 5, 1> solver(model, cost, DISABLE_FULLDDP, DISABLE_QPBOX); |
36 |
|
|
solver.FirstInitSolver(xinit, xDes, T, dt, iterMax, stopCrit); |
37 |
|
|
|
38 |
|
|
int N = 100; |
39 |
|
|
gettimeofday(&tbegin, NULL); |
40 |
|
|
solver.solveTrajectory(); |
41 |
|
|
gettimeofday(&tend, NULL); |
42 |
|
|
|
43 |
|
|
lastTraj = solver.getLastSolvedTrajectory(); |
44 |
|
|
xList = lastTraj.xList; |
45 |
|
|
uList = lastTraj.uList; |
46 |
|
|
unsigned int iter = lastTraj.iter; |
47 |
|
|
|
48 |
|
|
texec = ((double)(1000 * (tend.tv_sec - tbegin.tv_sec) + |
49 |
|
|
((tend.tv_usec - tbegin.tv_usec) / 1000))) / |
50 |
|
|
1000.; |
51 |
|
|
texec /= N; |
52 |
|
|
|
53 |
|
|
cout << endl; |
54 |
|
|
cout << "temps d'execution total du solveur "; |
55 |
|
|
cout << texec << endl; |
56 |
|
|
cout << "temps d'execution par pas de temps "; |
57 |
|
|
cout << texec / T << endl; |
58 |
|
|
cout << "Nombre d'itérations : " << iter << endl; |
59 |
|
|
|
60 |
|
|
ofstream fichier1("results1.csv", ios::out | ios::trunc); |
61 |
|
|
if (fichier1) { |
62 |
|
|
fichier1 << "tau,tauDot,q,qDot,u" << endl; |
63 |
|
|
x = xinit; |
64 |
|
|
fichier1 << x(0, 0) << "," << x(1, 0) << "," << x(2, 0) << "," << x(3, 0) |
65 |
|
|
<< "," << uList[0] << endl; |
66 |
|
|
for (i = 1; i < T; i++) { |
67 |
|
|
x = model.computeNextState(dt, x, uList[i - 1]); |
68 |
|
|
fichier1 << x(0, 0) << "," << x(1, 0) << "," << x(2, 0) << "," << x(3, 0) |
69 |
|
|
<< "," << uList[i - 1] << endl; |
70 |
|
|
} |
71 |
|
|
fichier1 << xList[T](0, 0) << "," << xList[T](1, 0) << "," << xList[T](2, 0) |
72 |
|
|
<< "," << xList[T](3, 0) << "," << uList[T - 1](0, 0) << endl; |
73 |
|
|
fichier1.close(); |
74 |
|
|
} else |
75 |
|
|
cerr << "erreur ouverte fichier" << endl; |
76 |
|
|
|
77 |
|
|
ofstream fichier2("results2.csv", ios::out | ios::trunc); |
78 |
|
|
if (fichier2) { |
79 |
|
|
fichier2 << "tau,tauDot,q,qDot,u" << endl; |
80 |
|
|
fichier2 << T << ',' << 0 << endl; |
81 |
|
|
for (int j = 0; j < 0; j++) { |
82 |
|
|
noisyModel = new ModelIP(dt, 1); |
83 |
|
|
fichier2 << xList[i](0, 0) << "," << xList[i](1, 0) << "," |
84 |
|
|
<< xList[i](2, 0) << "," << xList[i](3, 0) << "," |
85 |
|
|
<< uList[i](0, 0) << endl; |
86 |
|
|
x = xinit; |
87 |
|
|
for (i = 1; i < T; i++) { |
88 |
|
|
x = noisyModel->computeNextState(dt, x, uList[i - 1]); |
89 |
|
|
fichier2 << x(0, 0) << "," << x(1, 0) << "," << x(2, 0) << "," |
90 |
|
|
<< x(3, 0) << "," << uList[i - 1] << endl; |
91 |
|
|
} |
92 |
|
|
fichier2 << xList[T](0, 0) << "," << xList[T](1, 0) << "," |
93 |
|
|
<< xList[T](2, 0) << "," << xList[T](3, 0) << "," |
94 |
|
|
<< uList[T - 1](0, 0) << endl; |
95 |
|
|
delete noisyModel; |
96 |
|
|
} |
97 |
|
|
fichier2.close(); |
98 |
|
|
} else |
99 |
|
|
cerr << "erreur ouverte fichier" << endl; |
100 |
|
|
|
101 |
|
|
return 0; |
102 |
|
|
} |