exotica::AbstractDDPSolver Class Reference

#include <abstract_ddp_solver.h>

Inheritance diagram for exotica::AbstractDDPSolver:

Public Member Functions
std::vector< double >	get_control_cost_evolution () const
const std::vector< Eigen::MatrixXd > &	get_fu () const
const std::vector< Eigen::MatrixXd > &	get_fx () const
const std::vector< Eigen::MatrixXd > &	get_K () const
const std::vector< Eigen::VectorXd > &	get_k () const
const std::vector< Eigen::VectorXd > &	get_Qu () const
const std::vector< Eigen::MatrixXd > &	get_Quu () const
const std::vector< Eigen::MatrixXd > &	get_Quu_inv () const
const std::vector< Eigen::MatrixXd > &	get_Qux () const
const std::vector< Eigen::VectorXd > &	get_Qx () const
const std::vector< Eigen::MatrixXd > &	get_Qxx () const
std::vector< double >	get_regularization_evolution () const
std::vector< double >	get_steplength_evolution () const
const std::vector< Eigen::VectorXd > &	get_U_ref () const
const std::vector< Eigen::VectorXd > &	get_U_try () const
const std::vector< Eigen::VectorXd > &	get_Vx () const
const std::vector< Eigen::MatrixXd > &	get_Vxx () const
const std::vector< Eigen::VectorXd > &	get_X_ref () const
const std::vector< Eigen::VectorXd > &	get_X_try () const
Eigen::VectorXd	GetFeedbackControl (Eigen::VectorXdRefConst x, int t) const override
void	set_control_cost_evolution (const int index, const double cost)
void	Solve (Eigen::MatrixXd &solution) override
	Solves the problem. More...
void	SpecifyProblem (PlanningProblemPtr pointer) override
	Binds the solver to a specific problem which must be pre-initalised. More...
Public Member Functions inherited from exotica::MotionSolver
int	GetNumberOfMaxIterations ()
double	GetPlanningTime ()
PlanningProblemPtr	GetProblem () const
void	InstantiateBase (const Initializer &init) override
	MotionSolver ()=default
std::string	Print (const std::string &prepend) const override
void	SetNumberOfMaxIterations (int max_iter)
virtual	~MotionSolver ()=default
Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()
void	InstantiateObject (const Initializer &init)
	Object ()
virtual std::string	type () const
virtual	~Object ()
Public Member Functions inherited from exotica::InstantiableBase
virtual std::vector< Initializer >	GetAllTemplates () const =0
virtual Initializer	GetInitializerTemplate ()=0
	InstantiableBase ()=default
virtual void	InstantiateInternal (const Initializer &init)=0
virtual	~InstantiableBase ()=default

Protected Member Functions
virtual void	BackwardPass ()=0
	Computes the control gains for a the trajectory in the associated DynamicTimeIndexedProblem. More...
virtual void	DecreaseRegularization ()
double	ForwardPass (const double alpha)
	Forward simulates the dynamics using the gains computed in the last BackwardPass;. More...
virtual void	IncreaseRegularization ()

Protected Attributes
double	alpha_best_
	Line-search step taken. More...
Eigen::VectorXd	alpha_space_
	Backtracking line-search steplengths. More...
AbstractDDPSolverInitializer	base_parameters_
double	control_cost_
	Control cost during iteration. More...
std::vector< double >	control_cost_evolution_
	Evolution of the control cost (control regularization) More...
double	control_cost_try_
	Total control cost computed by line-search procedure. More...
double	cost_
	Cost during iteration. More...
double	cost_prev_
	Cost during previous iteration. More...
double	cost_try_
	Total cost computed by line-search procedure. More...
double	dt_
	Integration time-step. More...
DynamicsSolverPtr	dynamics_solver_
	Shared pointer to the dynamics solver. More...
std::vector< Eigen::MatrixXd >	fu_
	Derivative of the dynamics f w.r.t. u. More...
std::vector< Eigen::MatrixXd >	fx_
	Derivative of the dynamics f w.r.t. x. More...
std::vector< Eigen::MatrixXd >	K_
	Feedback gains. More...
std::vector< Eigen::VectorXd >	k_
	Feed-forward terms. More...
double	lambda_
	Regularization (Vxx, Quu) More...
int	NDX_
	Size of tangent vector to the state vector. More...
int	NU_
	Size of control vector. More...
int	NV_
	Size of velocity vector (tangent vector to the configuration) More...
int	NX_
	Size of state vector. More...
DynamicTimeIndexedShootingProblemPtr	prob_
	Shared pointer to the planning problem. More...
std::vector< Eigen::VectorXd >	Qu_
	Gradient of the Hamiltonian. More...
std::vector< Eigen::MatrixXd >	Quu_
	Hessian of the Hamiltonian. More...
std::vector< Eigen::MatrixXd >	Quu_inv_
	Inverse of the Hessian of the Hamiltonian. More...
std::vector< Eigen::MatrixXd >	Qux_
	Hessian of the Hamiltonian. More...
std::vector< Eigen::VectorXd >	Qx_
	Gradient of the Hamiltonian. More...
std::vector< Eigen::MatrixXd >	Qxx_
	Hessian of the Hamiltonian. More...
std::vector< double >	regularization_evolution_
	Evolution of the regularization (xreg/ureg) More...
std::vector< double >	steplength_evolution_
	Evolution of the steplength. More...
int	T_
	Length of shooting problem, i.e., state trajectory. The control trajectory has length T_-1. More...
double	time_taken_backward_pass_
double	time_taken_forward_pass_
std::vector< Eigen::VectorXd >	U_ref_
	Reference control trajectory for feedback control. More...
std::vector< Eigen::VectorXd >	U_try_
	Updated control trajectory during iteration (computed by line-search) More...
std::vector< Eigen::VectorXd >	Vx_
	Gradient of the Value function. More...
std::vector< Eigen::MatrixXd >	Vxx_
	Hessian of the Value function. More...
std::vector< Eigen::VectorXd >	X_ref_
	Reference state trajectory for feedback control. More...
std::vector< Eigen::VectorXd >	X_try_
	Updated state trajectory during iteration (computed by line-search) More...
Protected Attributes inherited from exotica::MotionSolver
int	max_iterations_
double	planning_time_
PlanningProblemPtr	problem_

Additional Inherited Members
Public Attributes inherited from exotica::Object
bool	debug_
std::string	ns_
std::string	object_name_

Detailed Description

Definition at line 43 of file abstract_ddp_solver.h.

Member Function Documentation

virtual void exotica::AbstractDDPSolver::BackwardPass ( )

protectedpure virtual

Computes the control gains for a the trajectory in the associated DynamicTimeIndexedProblem.

Implemented in exotica::AbstractFeasibilityDrivenDDPSolver, exotica::AnalyticDDPSolver, and exotica::ControlLimitedDDPSolver.

virtual void exotica::AbstractDDPSolver::DecreaseRegularization ( )

inlineprotectedvirtual

Reimplemented in exotica::AbstractFeasibilityDrivenDDPSolver.

Definition at line 108 of file abstract_ddp_solver.h.

double exotica::AbstractDDPSolver::ForwardPass ( const double  alpha )

protected

Forward simulates the dynamics using the gains computed in the last BackwardPass;.

Parameters

alpha	The learning rate.
ref_trajectory	The reference state trajectory.

Returns

The cost associated with the new control and state trajectory.

Definition at line 281 of file abstract_ddp_solver.cpp.

std::vector< double > exotica::AbstractDDPSolver::get_control_cost_evolution

(

)

const

Definition at line 334 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::MatrixXd > & exotica::AbstractDDPSolver::get_fu

(

)

const

Definition at line 333 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::MatrixXd > & exotica::AbstractDDPSolver::get_fx

(

)

const

Definition at line 332 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::MatrixXd > & exotica::AbstractDDPSolver::get_K

(

)

const

Definition at line 325 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::VectorXd > & exotica::AbstractDDPSolver::get_k

(

)

const

Definition at line 326 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::VectorXd > & exotica::AbstractDDPSolver::get_Qu

(

)

const

Definition at line 324 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::MatrixXd > & exotica::AbstractDDPSolver::get_Quu

(

)

const

Definition at line 322 of file abstract_ddp_solver.cpp.

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

(

)

const

Definition at line 331 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::MatrixXd > & exotica::AbstractDDPSolver::get_Qux

(

)

const

Definition at line 321 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::VectorXd > & exotica::AbstractDDPSolver::get_Qx

(

)

const

Definition at line 323 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::MatrixXd > & exotica::AbstractDDPSolver::get_Qxx

(

)

const

Definition at line 320 of file abstract_ddp_solver.cpp.

std::vector< double > exotica::AbstractDDPSolver::get_regularization_evolution

(

)

const

Definition at line 374 of file abstract_ddp_solver.cpp.

std::vector< double > exotica::AbstractDDPSolver::get_steplength_evolution

(

)

const

Definition at line 362 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::VectorXd > & exotica::AbstractDDPSolver::get_U_ref

(

)

const

Definition at line 330 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::VectorXd > & exotica::AbstractDDPSolver::get_U_try

(

)

const

Definition at line 328 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::VectorXd > & exotica::AbstractDDPSolver::get_Vx

(

)

const

Definition at line 319 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::MatrixXd > & exotica::AbstractDDPSolver::get_Vxx

(

)

const

Definition at line 318 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::VectorXd > & exotica::AbstractDDPSolver::get_X_ref

(

)

const

Definition at line 329 of file abstract_ddp_solver.cpp.

const std::vector< Eigen::VectorXd > & exotica::AbstractDDPSolver::get_X_try

(

)

const

Definition at line 327 of file abstract_ddp_solver.cpp.

Eigen::VectorXd exotica::AbstractDDPSolver::GetFeedbackControl ( Eigen::VectorXdRefConst  x, int  t  ) const

overridevirtual

Implements exotica::FeedbackMotionSolver.

Definition at line 312 of file abstract_ddp_solver.cpp.

virtual void exotica::AbstractDDPSolver::IncreaseRegularization ( )

inlineprotectedvirtual

Reimplemented in exotica::AbstractFeasibilityDrivenDDPSolver.

Definition at line 103 of file abstract_ddp_solver.h.

void exotica::AbstractDDPSolver::set_control_cost_evolution	(	const int	index,
		const double	cost
	)

Definition at line 346 of file abstract_ddp_solver.cpp.

void exotica::AbstractDDPSolver::Solve ( Eigen::MatrixXd &  solution )

overridevirtual

Solves the problem.

Parameters

solution

Returned solution trajectory as a vector of joint configurations.

Implements exotica::MotionSolver.

Reimplemented in exotica::AbstractFeasibilityDrivenDDPSolver.

Definition at line 34 of file abstract_ddp_solver.cpp.

void exotica::AbstractDDPSolver::SpecifyProblem ( PlanningProblemPtr  pointer )

overridevirtual

Binds the solver to a specific problem which must be pre-initalised.

Parameters

pointer

Shared pointer to the motion planning problem

Returns

Successful if the problem is a valid DynamicTimeIndexedProblem

Reimplemented from exotica::MotionSolver.

Reimplemented in exotica::AbstractFeasibilityDrivenDDPSolver.

Definition at line 261 of file abstract_ddp_solver.cpp.

Member Data Documentation

double exotica::AbstractDDPSolver::alpha_best_

protected

Line-search step taken.

Definition at line 129 of file abstract_ddp_solver.h.

Eigen::VectorXd exotica::AbstractDDPSolver::alpha_space_

protected

Backtracking line-search steplengths.

Definition at line 114 of file abstract_ddp_solver.h.

AbstractDDPSolverInitializer exotica::AbstractDDPSolver::base_parameters_

protected

Definition at line 101 of file abstract_ddp_solver.h.

double exotica::AbstractDDPSolver::control_cost_

protected

Control cost during iteration.

Definition at line 123 of file abstract_ddp_solver.h.

std::vector<double> exotica::AbstractDDPSolver::control_cost_evolution_

protected

Evolution of the control cost (control regularization)

Definition at line 152 of file abstract_ddp_solver.h.

double exotica::AbstractDDPSolver::control_cost_try_

protected

Total control cost computed by line-search procedure.

Definition at line 126 of file abstract_ddp_solver.h.

double exotica::AbstractDDPSolver::cost_

protected

Cost during iteration.

Definition at line 122 of file abstract_ddp_solver.h.

double exotica::AbstractDDPSolver::cost_prev_

protected

Cost during previous iteration.

Definition at line 128 of file abstract_ddp_solver.h.

double exotica::AbstractDDPSolver::cost_try_

protected

Total cost computed by line-search procedure.

Definition at line 125 of file abstract_ddp_solver.h.

double exotica::AbstractDDPSolver::dt_

protected

Integration time-step.

Definition at line 121 of file abstract_ddp_solver.h.

DynamicsSolverPtr exotica::AbstractDDPSolver::dynamics_solver_

protected

Shared pointer to the dynamics solver.

Definition at line 88 of file abstract_ddp_solver.h.

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::fu_

protected

Derivative of the dynamics f w.r.t. u.

Definition at line 150 of file abstract_ddp_solver.h.

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::fx_

protected

Derivative of the dynamics f w.r.t. x.

Definition at line 149 of file abstract_ddp_solver.h.

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::K_

protected

Feedback gains.

Definition at line 139 of file abstract_ddp_solver.h.

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::k_

protected

Feed-forward terms.

Definition at line 140 of file abstract_ddp_solver.h.

double exotica::AbstractDDPSolver::lambda_

protected

Regularization (Vxx, Quu)

Definition at line 115 of file abstract_ddp_solver.h.

int exotica::AbstractDDPSolver::NDX_

protected

Size of tangent vector to the state vector.

Definition at line 119 of file abstract_ddp_solver.h.

int exotica::AbstractDDPSolver::NU_

protected

Size of control vector.

Definition at line 117 of file abstract_ddp_solver.h.

int exotica::AbstractDDPSolver::NV_

protected

Size of velocity vector (tangent vector to the configuration)

Definition at line 120 of file abstract_ddp_solver.h.

int exotica::AbstractDDPSolver::NX_

protected

Size of state vector.

Definition at line 118 of file abstract_ddp_solver.h.

DynamicTimeIndexedShootingProblemPtr exotica::AbstractDDPSolver::prob_

protected

Shared pointer to the planning problem.

Definition at line 87 of file abstract_ddp_solver.h.

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::Qu_

protected

Gradient of the Hamiltonian.

Definition at line 138 of file abstract_ddp_solver.h.

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::Quu_

protected

Hessian of the Hamiltonian.

Definition at line 136 of file abstract_ddp_solver.h.

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::Quu_inv_

protected

Inverse of the Hessian of the Hamiltonian.

Definition at line 148 of file abstract_ddp_solver.h.

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::Qux_

protected

Hessian of the Hamiltonian.

Definition at line 135 of file abstract_ddp_solver.h.

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::Qx_

protected

Gradient of the Hamiltonian.

Definition at line 137 of file abstract_ddp_solver.h.

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::Qxx_

protected

Hessian of the Hamiltonian.

Definition at line 134 of file abstract_ddp_solver.h.

std::vector<double> exotica::AbstractDDPSolver::regularization_evolution_

protected

Evolution of the regularization (xreg/ureg)

Definition at line 154 of file abstract_ddp_solver.h.

std::vector<double> exotica::AbstractDDPSolver::steplength_evolution_

protected

Evolution of the steplength.

Definition at line 153 of file abstract_ddp_solver.h.

int exotica::AbstractDDPSolver::T_

protected

Length of shooting problem, i.e., state trajectory. The control trajectory has length T_-1.

Definition at line 116 of file abstract_ddp_solver.h.

double exotica::AbstractDDPSolver::time_taken_backward_pass_

protected

Definition at line 130 of file abstract_ddp_solver.h.

double exotica::AbstractDDPSolver::time_taken_forward_pass_

protected

Definition at line 130 of file abstract_ddp_solver.h.

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::U_ref_

protected

Reference control trajectory for feedback control.

Definition at line 146 of file abstract_ddp_solver.h.

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::U_try_

protected

Updated control trajectory during iteration (computed by line-search)

Definition at line 143 of file abstract_ddp_solver.h.

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::Vx_

protected

Gradient of the Value function.

Definition at line 133 of file abstract_ddp_solver.h.

std::vector<Eigen::MatrixXd> exotica::AbstractDDPSolver::Vxx_

protected

Hessian of the Value function.

Definition at line 132 of file abstract_ddp_solver.h.

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::X_ref_

protected

Reference state trajectory for feedback control.

Definition at line 145 of file abstract_ddp_solver.h.

std::vector<Eigen::VectorXd> exotica::AbstractDDPSolver::X_try_

protected

Updated state trajectory during iteration (computed by line-search)

Definition at line 142 of file abstract_ddp_solver.h.

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

• abstract_ddp_solver.h
• abstract_ddp_solver.cpp