nmpc_ddp
Public Member Functions | Public Attributes | List of all members
nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration Struct Reference

Configuration. More...

#include <DDPSolver.h>

Public Member Functions

 Configuration ()
 Constructor. More...
 

Public Attributes

int print_level = 1
 Print level (0: no print, 1: print only important, 2: print verbose, 3: print very verbose) More...
 
bool use_state_eq_second_derivative = false
 Whether to use second-order derivatives of state equation. More...
 
bool with_input_constraint = false
 Whether input has constraints. More...
 
int max_iter = 500
 Maximum iteration of optimization loop. More...
 
int horizon_steps = 100
 Number of steps in horizon. More...
 
int reg_type = 1
 Regularization type (1: Quu + lambda * I, 2: Vxx + lambda * I) More...
 
double initial_lambda = 1e-4
 Initial regularization coefficient. More...
 
double initial_dlambda = 1.0
 Initial scaling factor of regularization coefficient. More...
 
double lambda_factor = 1.6
 Increasing/decreasing factor of regularization coefficient scaling. More...
 
double lambda_min = 1e-6
 Minimum regularization coefficient. More...
 
double lambda_max = 1e10
 Maximum regularization coefficient. More...
 
double k_rel_norm_thre = 1e-4
 Termination threshold of relative norm of k. More...
 
double lambda_thre = 1e-5
 Termination threshold of regularization coefficient. More...
 
Eigen::VectorXd alpha_list
 List of alpha (scaling factor of k) More...
 
double cost_update_ratio_thre = 0
 Allowable threshold of cost update ratio. More...
 
double cost_update_thre = 1e-7
 Termination threshold of cost update. More...
 

Detailed Description

template<int StateDim, int InputDim>
struct nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration

Configuration.

Definition at line 47 of file DDPSolver.h.

Constructor & Destructor Documentation

◆ Configuration()

template<int StateDim, int InputDim>
nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::Configuration ( )
inline

Constructor.

Definition at line 50 of file DDPSolver.h.

Member Data Documentation

◆ alpha_list

template<int StateDim, int InputDim>
Eigen::VectorXd nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::alpha_list

List of alpha (scaling factor of k)

Definition at line 103 of file DDPSolver.h.

◆ cost_update_ratio_thre

template<int StateDim, int InputDim>
double nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::cost_update_ratio_thre = 0

Allowable threshold of cost update ratio.

Definition at line 106 of file DDPSolver.h.

◆ cost_update_thre

template<int StateDim, int InputDim>
double nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::cost_update_thre = 1e-7

Termination threshold of cost update.

Definition at line 109 of file DDPSolver.h.

◆ horizon_steps

template<int StateDim, int InputDim>
int nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::horizon_steps = 100

Number of steps in horizon.

Definition at line 76 of file DDPSolver.h.

◆ initial_dlambda

template<int StateDim, int InputDim>
double nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::initial_dlambda = 1.0

Initial scaling factor of regularization coefficient.

Definition at line 85 of file DDPSolver.h.

◆ initial_lambda

template<int StateDim, int InputDim>
double nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::initial_lambda = 1e-4

Initial regularization coefficient.

Definition at line 82 of file DDPSolver.h.

◆ k_rel_norm_thre

template<int StateDim, int InputDim>
double nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::k_rel_norm_thre = 1e-4

Termination threshold of relative norm of k.

Definition at line 97 of file DDPSolver.h.

◆ lambda_factor

template<int StateDim, int InputDim>
double nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::lambda_factor = 1.6

Increasing/decreasing factor of regularization coefficient scaling.

Definition at line 88 of file DDPSolver.h.

◆ lambda_max

template<int StateDim, int InputDim>
double nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::lambda_max = 1e10

Maximum regularization coefficient.

Definition at line 94 of file DDPSolver.h.

◆ lambda_min

template<int StateDim, int InputDim>
double nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::lambda_min = 1e-6

Minimum regularization coefficient.

Definition at line 91 of file DDPSolver.h.

◆ lambda_thre

template<int StateDim, int InputDim>
double nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::lambda_thre = 1e-5

Termination threshold of regularization coefficient.

Definition at line 100 of file DDPSolver.h.

◆ max_iter

template<int StateDim, int InputDim>
int nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::max_iter = 500

Maximum iteration of optimization loop.

Definition at line 73 of file DDPSolver.h.

◆ print_level

template<int StateDim, int InputDim>
int nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::print_level = 1

Print level (0: no print, 1: print only important, 2: print verbose, 3: print very verbose)

Definition at line 63 of file DDPSolver.h.

◆ reg_type

template<int StateDim, int InputDim>
int nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::reg_type = 1

Regularization type (1: Quu + lambda * I, 2: Vxx + lambda * I)

Definition at line 79 of file DDPSolver.h.

◆ use_state_eq_second_derivative

template<int StateDim, int InputDim>
bool nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::use_state_eq_second_derivative = false

Whether to use second-order derivatives of state equation.

Definition at line 67 of file DDPSolver.h.

◆ with_input_constraint

template<int StateDim, int InputDim>
bool nmpc_ddp::DDPSolver< StateDim, InputDim >::Configuration::with_input_constraint = false

Whether input has constraints.

Definition at line 70 of file DDPSolver.h.

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