9#ifndef CROCODDYL_CORE_SOLVERS_BOX_FDDP_HPP_
10#define CROCODDYL_CORE_SOLVERS_BOX_FDDP_HPP_
12#include <Eigen/Cholesky>
15#include "crocoddyl/core/solvers/fddp.hpp"
16#include "crocoddyl/core/solvers/box-qp.hpp"
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 explicit SolverBoxFDDP(boost::shared_ptr<ShootingProblem> problem);
32 const std::vector<Eigen::MatrixXd>& get_Quu_inv()
const;
36 std::vector<Eigen::MatrixXd> Quu_inv_;
37 std::vector<Eigen::VectorXd> du_lb_;
38 std::vector<Eigen::VectorXd> du_ub_;
This class implements a Box QP solver based on a Projected Newton method.
virtual void computeGains(const std::size_t t)
Compute the feedforward and feedback terms using a Cholesky decomposition.
virtual void allocateData()
Allocate all the internal data needed for the solver.
virtual void resizeData()
Resizing the solver data.
virtual void forwardPass(const double steplength)
Run the forward pass or rollout.
Feasibility-driven Differential Dynamic Programming (FDDP) solver.