OptimalControllerSolver.hh

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/*
 * Copyright 2006, 2007, 2008, 2009, 2010,
 *
 * Florent Lamiraux
 * Mathieu Poirier
 * Olivier Stasse
 *
 * JRL, CNRS/AIST
 *
 * This file is part of walkGenJrl.
 * walkGenJrl is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * walkGenJrl is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Lesser Public License for more details.
 * You should have received a copy of the GNU Lesser General Public License
 * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  Research carried out within the scope of the
 *  Joint Japanese-French Robotics Laboratory (JRL)
 */
#ifndef _OPTIMAL_CONTROLLER_SOLVER_H_
#define _OPTIMAL_CONTROLLER_SOLVER_H_
 
#include <Eigen/Dense>
 
namespace PatternGeneratorJRL {
class OptimalControllerSolver {
 public:
  static const unsigned int MODE_WITHOUT_INITIALPOS = 1;
  static const unsigned int MODE_WITH_INITIALPOS = 0;
 
  OptimalControllerSolver(Eigen::MatrixXd &A, Eigen::MatrixXd &b,
                          Eigen::MatrixXd &c, double Q, double R,
                          unsigned int Nl);
 
  ~OptimalControllerSolver();
 
  void ComputeWeights(unsigned int Mode);
 
  void DisplayWeights();
 
  void GetF(Eigen::MatrixXd &LF);
 
  void GetK(Eigen::MatrixXd &LK);
 
 protected:
  typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
      MatrixRXd;
  MatrixRXd m_A;
  MatrixRXd m_b;
  MatrixRXd m_c;
 
  double m_Q, m_R;
 
  MatrixRXd m_K;
  MatrixRXd m_F;
 
  int m_Nl;
 
  bool GeneralizedSchur(MatrixRXd &A, MatrixRXd &B, Eigen::VectorXd &alphar,
                        Eigen::VectorXd &alphai, Eigen::VectorXd &beta,
                        MatrixRXd &L, MatrixRXd &R);
};
 
}  // namespace PatternGeneratorJRL
#endif /* _OPTIMAL_CONTROLLER_SOLVER_H_ */