DDP solver. More...

#include <DDPSolver.h>

Collaboration diagram for nmpc_ddp::DDPSolver< StateDim, InputDim >:

[legend]

Classes
struct	ComputationDuration
	Data of computation duration. More...

struct	Configuration
	Configuration. More...

struct	ControlData
	Control data. More...

struct	Derivative
	Derivatives of DDP problem. More...

struct	TraceData
	Data to trace optimization loop. More...

Public Types
using	StateDimVector = typename DDPProblem< StateDim, InputDim >::StateDimVector
	Type of vector of state dimension. More...

using	InputDimVector = typename DDPProblem< StateDim, InputDim >::InputDimVector
	Type of vector of input dimension. More...

using	StateStateDimMatrix = typename DDPProblem< StateDim, InputDim >::StateStateDimMatrix
	Type of matrix of state x state dimension. More...

using	InputInputDimMatrix = typename DDPProblem< StateDim, InputDim >::InputInputDimMatrix
	Type of matrix of input x input dimension. More...

using	StateInputDimMatrix = typename DDPProblem< StateDim, InputDim >::StateInputDimMatrix
	Type of matrix of state x input dimension. More...

using	InputStateDimMatrix = typename DDPProblem< StateDim, InputDim >::InputStateDimMatrix
	Type of matrix of input x state dimension. More...

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DDPSolver (const std::shared_ptr< DDPProblem< StateDim, InputDim >> &problem)
	Constructor. More...

Configuration &	config ()
	Accessor to configuration. More...

const Configuration &	config () const
	Const accessor to configuration. More...

bool	solve (double current_t, const StateDimVector &current_x, const std::vector< InputDimVector > &initial_u_list)
	Solve optimization. More...

void	setInputLimitsFunc (const std::function< std::array< InputDimVector, 2 >(double)> &input_limits_func)
	Set function to return input limits. More...

const ControlData &	controlData () const
	Const accessor to control data calculated by solve(). More...

const std::vector< TraceData > &	traceDataList () const
	Const accessor to trace data list. More...

const ComputationDuration &	computationDuration () const
	Const accessor to computation duration. More...

void	dumpTraceDataList (const std::string &file_path) const
	Dump trace data list. More...

Protected Member Functions
int	procOnce (int iter)
	Process one iteration. More...

bool	backwardPass ()
	Process backward pass. More...

void	forwardPass (double alpha)
	Process forward pass. More...

Protected Attributes
Configuration	config_
	Configuration. More...

std::shared_ptr< DDPProblem< StateDim, InputDim > >	problem_
	DDP problem. More...

std::vector< TraceData >	trace_data_list_
	Sequence of trace data. More...

std::function< std::array< InputDimVector, 2 >double)>	input_limits_func_
	Function to return input limits (in the order of lower, upper) More...

ComputationDuration	computation_duration_
	Computation duration data. More...

double	current_t_ = 0
	Current time [sec]. More...

double	lambda_ = 0
	Regularization coefficient. More...

double	dlambda_ = 0
	Scaling factor of regularization coefficient. More...

ControlData	control_data_
	Control data (sequence of state, input, and cost) More...

ControlData	candidate_control_data_
	Candidate control data (sequence of state, input, and cost) More...

std::vector< InputDimVector >	k_list_
	Sequence of feedforward term for input (k[0], ..., k[N-1]) More...

std::vector< InputStateDimMatrix >	K_list_
	Sequence of feedback gain for input w.r.t. state error (K[0], ..., K[N-1]) More...

std::vector< Derivative >	derivative_list_
	Sequence of derivatives. More...

StateDimVector	last_Vx_
	First-order derivative of value in last step of horizon. More...

StateStateDimMatrix	last_Vxx_
	Second-order derivative of value in last step of horizon. More...

Eigen::Vector2d	dV_
	Expected update of value. More...

Detailed Description

template<int StateDim, int InputDim>
class nmpc_ddp::DDPSolver< StateDim, InputDim >

DDP solver.

Template Parameters

StateDim	state dimension
InputDim	input dimension

See the following for a detailed algorithm.

Y Tassa, T Erez, E Todorov. Synthesis and stabilization of complex behaviors through online trajectory optimization. IROS, 2012.
Y Tassa, N Mansard, E Todorov. Control-limited differential dynamic programming. ICRA, 2014.
https://www.mathworks.com/matlabcentral/fileexchange/52069-ilqg-ddp-trajectory-optimization

Definition at line 24 of file DDPSolver.h.

Member Typedef Documentation

◆ InputDimVector

template<int StateDim, int InputDim>

using nmpc_ddp::DDPSolver< StateDim, InputDim >::InputDimVector = typename DDPProblem<StateDim, InputDim>::InputDimVector

Type of vector of input dimension.

Definition at line 31 of file DDPSolver.h.

◆ InputInputDimMatrix

template<int StateDim, int InputDim>

using nmpc_ddp::DDPSolver< StateDim, InputDim >::InputInputDimMatrix = typename DDPProblem<StateDim, InputDim>::InputInputDimMatrix

Type of matrix of input x input dimension.

Definition at line 37 of file DDPSolver.h.

◆ InputStateDimMatrix

template<int StateDim, int InputDim>

using nmpc_ddp::DDPSolver< StateDim, InputDim >::InputStateDimMatrix = typename DDPProblem<StateDim, InputDim>::InputStateDimMatrix

Type of matrix of input x state dimension.

Definition at line 43 of file DDPSolver.h.

◆ StateDimVector

template<int StateDim, int InputDim>

using nmpc_ddp::DDPSolver< StateDim, InputDim >::StateDimVector = typename DDPProblem<StateDim, InputDim>::StateDimVector

Type of vector of state dimension.

Definition at line 28 of file DDPSolver.h.

◆ StateInputDimMatrix

template<int StateDim, int InputDim>

using nmpc_ddp::DDPSolver< StateDim, InputDim >::StateInputDimMatrix = typename DDPProblem<StateDim, InputDim>::StateInputDimMatrix

Type of matrix of state x input dimension.

Definition at line 40 of file DDPSolver.h.

◆ StateStateDimMatrix

template<int StateDim, int InputDim>

using nmpc_ddp::DDPSolver< StateDim, InputDim >::StateStateDimMatrix = typename DDPProblem<StateDim, InputDim>::StateStateDimMatrix

Type of matrix of state x state dimension.

Definition at line 34 of file DDPSolver.h.

Constructor & Destructor Documentation

◆ DDPSolver()

template<int StateDim, int InputDim>

nmpc_ddp::DDPSolver< StateDim, InputDim >::DDPSolver ( const std::shared_ptr< DDPProblem< StateDim, InputDim >> & problem )

Constructor.

Parameters

problem DDP problem

Definition at line 21 of file DDPSolver.hpp.

Member Function Documentation

◆ backwardPass()

template<int StateDim, int InputDim>

bool nmpc_ddp::DDPSolver< StateDim, InputDim >::backwardPass

protected

Process backward pass.

Returns: whether the process is finished successfully

Definition at line 343 of file DDPSolver.hpp.

◆ computationDuration()

template<int StateDim, int InputDim>

const ComputationDuration& nmpc_ddp::DDPSolver< StateDim, InputDim >::computationDuration ( ) const

inline

Const accessor to computation duration.

Definition at line 300 of file DDPSolver.h.

◆ config() [1/2]

template<int StateDim, int InputDim>

Configuration& nmpc_ddp::DDPSolver< StateDim, InputDim >::config ( )

inline

Accessor to configuration.

Definition at line 258 of file DDPSolver.h.

◆ config() [2/2]

template<int StateDim, int InputDim>

const Configuration& nmpc_ddp::DDPSolver< StateDim, InputDim >::config ( ) const

inline

Const accessor to configuration.

Definition at line 264 of file DDPSolver.h.

◆ controlData()

template<int StateDim, int InputDim>

const ControlData& nmpc_ddp::DDPSolver< StateDim, InputDim >::controlData ( ) const

inline

Const accessor to control data calculated by solve().

Definition at line 288 of file DDPSolver.h.

◆ dumpTraceDataList()

template<int StateDim, int InputDim>

void nmpc_ddp::DDPSolver< StateDim, InputDim >::dumpTraceDataList ( const std::string & file_path ) const

Dump trace data list.

Parameters

file_path path to output file

Definition at line 563 of file DDPSolver.hpp.

◆ forwardPass()

template<int StateDim, int InputDim>

void nmpc_ddp::DDPSolver< StateDim, InputDim >::forwardPass ( double alpha )

protected

Process forward pass.

Parameters

alpha scaling factor of k

Definition at line 537 of file DDPSolver.hpp.

◆ procOnce()

template<int StateDim, int InputDim>

int nmpc_ddp::DDPSolver< StateDim, InputDim >::procOnce ( int iter )

protected

Process one iteration.

Parameters

iter	current iteration

Returns: 0 for continue, 1 for terminate, -1 for failure

Definition at line 144 of file DDPSolver.hpp.

◆ setInputLimitsFunc()

template<int StateDim, int InputDim>

void nmpc_ddp::DDPSolver< StateDim, InputDim >::setInputLimitsFunc ( const std::function< std::array< InputDimVector, 2 >(double)> & input_limits_func )

inline

Set function to return input limits.

Parameters

input_limits_func function to return input limits (in the order of lower, upper)

Note: The input limits are only considered when with_input_constraint in configuration is true.

Definition at line 282 of file DDPSolver.h.

◆ solve()

template<int StateDim, int InputDim>

bool nmpc_ddp::DDPSolver< StateDim, InputDim >::solve	(	double	current_t,
		const StateDimVector &	current_x,
		const std::vector< InputDimVector > &	initial_u_list
	)

Solve optimization.

Parameters

current_t	current time [sec]
current_x	current state
initial_u_list	initial sequence of input

Returns: whether the process is finished successfully

Definition at line 27 of file DDPSolver.hpp.

◆ traceDataList()

template<int StateDim, int InputDim>

const std::vector<TraceData>& nmpc_ddp::DDPSolver< StateDim, InputDim >::traceDataList ( ) const

inline

Const accessor to trace data list.

Definition at line 294 of file DDPSolver.h.

Member Data Documentation

◆ candidate_control_data_

template<int StateDim, int InputDim>

ControlData nmpc_ddp::DDPSolver< StateDim, InputDim >::candidate_control_data_

protected

Candidate control data (sequence of state, input, and cost)

Definition at line 356 of file DDPSolver.h.

◆ computation_duration_

template<int StateDim, int InputDim>

ComputationDuration nmpc_ddp::DDPSolver< StateDim, InputDim >::computation_duration_

protected

Computation duration data.

Definition at line 341 of file DDPSolver.h.

◆ config_

template<int StateDim, int InputDim>

Configuration nmpc_ddp::DDPSolver< StateDim, InputDim >::config_

protected

Configuration.

Definition at line 329 of file DDPSolver.h.

◆ control_data_

template<int StateDim, int InputDim>

ControlData nmpc_ddp::DDPSolver< StateDim, InputDim >::control_data_

protected

Control data (sequence of state, input, and cost)

Definition at line 353 of file DDPSolver.h.

◆ current_t_

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::current_t_ = 0

protected

Current time [sec].

Definition at line 344 of file DDPSolver.h.

◆ derivative_list_

template<int StateDim, int InputDim>

std::vector<Derivative> nmpc_ddp::DDPSolver< StateDim, InputDim >::derivative_list_

protected

Sequence of derivatives.

Definition at line 365 of file DDPSolver.h.

◆ dlambda_

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::dlambda_ = 0

protected

Scaling factor of regularization coefficient.

Definition at line 350 of file DDPSolver.h.

◆ dV_

template<int StateDim, int InputDim>

Eigen::Vector2d nmpc_ddp::DDPSolver< StateDim, InputDim >::dV_

protected

Expected update of value.

Definition at line 374 of file DDPSolver.h.

◆ input_limits_func_

template<int StateDim, int InputDim>

std::function<std::array<InputDimVector, 2>double)> nmpc_ddp::DDPSolver< StateDim, InputDim >::input_limits_func_

protected

Function to return input limits (in the order of lower, upper)

Definition at line 338 of file DDPSolver.h.

◆ k_list_

template<int StateDim, int InputDim>

std::vector<InputDimVector> nmpc_ddp::DDPSolver< StateDim, InputDim >::k_list_

protected

Sequence of feedforward term for input (k[0], ..., k[N-1])

Definition at line 359 of file DDPSolver.h.

◆ K_list_

template<int StateDim, int InputDim>

std::vector<InputStateDimMatrix> nmpc_ddp::DDPSolver< StateDim, InputDim >::K_list_

protected

Sequence of feedback gain for input w.r.t. state error (K[0], ..., K[N-1])

Definition at line 362 of file DDPSolver.h.

◆ lambda_

template<int StateDim, int InputDim>

double nmpc_ddp::DDPSolver< StateDim, InputDim >::lambda_ = 0

protected

Regularization coefficient.

Definition at line 347 of file DDPSolver.h.

◆ last_Vx_

template<int StateDim, int InputDim>

StateDimVector nmpc_ddp::DDPSolver< StateDim, InputDim >::last_Vx_

protected

First-order derivative of value in last step of horizon.

Definition at line 368 of file DDPSolver.h.

◆ last_Vxx_

template<int StateDim, int InputDim>

StateStateDimMatrix nmpc_ddp::DDPSolver< StateDim, InputDim >::last_Vxx_

protected

Second-order derivative of value in last step of horizon.

Definition at line 371 of file DDPSolver.h.

◆ problem_

template<int StateDim, int InputDim>

std::shared_ptr<DDPProblem<StateDim, InputDim> > nmpc_ddp::DDPSolver< StateDim, InputDim >::problem_

protected

DDP problem.

Definition at line 332 of file DDPSolver.h.

◆ trace_data_list_

template<int StateDim, int InputDim>

std::vector<TraceData> nmpc_ddp::DDPSolver< StateDim, InputDim >::trace_data_list_

protected

Sequence of trace data.

Definition at line 335 of file DDPSolver.h.

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

/home/runner/work/NMPC/NMPC/catkin_ws/src/NMPC/nmpc_ddp/include/nmpc_ddp/DDPSolver.h
/home/runner/work/NMPC/NMPC/catkin_ws/src/NMPC/nmpc_ddp/include/nmpc_ddp/DDPSolver.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<int StateDim, int InputDim> class nmpc_ddp::DDPSolver< StateDim, InputDim >

Member Typedef Documentation

◆ InputDimVector

◆ InputInputDimMatrix

◆ InputStateDimMatrix

◆ StateDimVector

◆ StateInputDimMatrix

◆ StateStateDimMatrix

Constructor & Destructor Documentation

◆ DDPSolver()

Member Function Documentation

◆ backwardPass()

◆ computationDuration()

◆ config() [1/2]

◆ config() [2/2]

◆ controlData()

◆ dumpTraceDataList()

◆ forwardPass()

◆ procOnce()

◆ setInputLimitsFunc()

◆ solve()

◆ traceDataList()

Member Data Documentation

◆ candidate_control_data_

◆ computation_duration_

◆ config_

◆ control_data_

◆ current_t_

◆ derivative_list_

◆ dlambda_

◆ dV_

◆ input_limits_func_

◆ k_list_

◆ K_list_

◆ lambda_

◆ last_Vx_

◆ last_Vxx_

◆ problem_

◆ trace_data_list_

template<int StateDim, int InputDim>
class nmpc_ddp::DDPSolver< StateDim, InputDim >