11 #include "crocoddyl/core/solvers/box-ddp.hpp" 12 #include "crocoddyl/core/utils/exception.hpp" 16 SolverBoxDDP::SolverBoxDDP(boost::shared_ptr<ShootingProblem> problem)
17 : SolverDDP(problem), qp_(problem->get_runningModels()[0]->get_nu(), 100, 0.1, 1e-5, 0.) {
20 const std::size_t n_alphas = 10;
21 alphas_.resize(n_alphas);
22 for (std::size_t n = 0; n < n_alphas; ++n) {
23 alphas_[n] = 1. / pow(2., static_cast<double>(n));
32 SolverBoxDDP::~SolverBoxDDP() {}
35 START_PROFILER(
"SolverBoxDDP::resizeData");
38 const std::size_t T =
problem_->get_T();
39 const std::vector<boost::shared_ptr<ActionModelAbstract> >& models =
problem_->get_runningModels();
40 for (std::size_t t = 0; t < T; ++t) {
41 const boost::shared_ptr<ActionModelAbstract>& model = models[t];
42 const std::size_t nu = model->get_nu();
43 Quu_inv_[t].conservativeResize(nu, nu);
44 du_lb_[t].conservativeResize(nu);
45 du_ub_[t].conservativeResize(nu);
47 STOP_PROFILER(
"SolverBoxDDP::resizeData");
53 const std::size_t T =
problem_->get_T();
57 const std::vector<boost::shared_ptr<ActionModelAbstract> >& models =
problem_->get_runningModels();
58 for (std::size_t t = 0; t < T; ++t) {
59 const boost::shared_ptr<ActionModelAbstract>& model = models[t];
60 const std::size_t nu = model->get_nu();
61 Quu_inv_[t] = Eigen::MatrixXd::Zero(nu, nu);
62 du_lb_[t] = Eigen::VectorXd::Zero(nu);
63 du_ub_[t] = Eigen::VectorXd::Zero(nu);
68 START_PROFILER(
"SolverBoxDDP::computeGains");
69 const std::size_t nu =
problem_->get_runningModels()[t]->get_nu();
77 du_lb_[t] =
problem_->get_runningModels()[t]->get_u_lb() -
us_[t];
78 du_ub_[t] =
problem_->get_runningModels()[t]->get_u_ub() -
us_[t];
80 START_PROFILER(
"SolverBoxDDP::boxQP");
82 START_PROFILER(
"SolverBoxDDP::boxQP");
85 START_PROFILER(
"SolverBoxDDP::Quu_invproj");
86 Quu_inv_[t].setZero();
87 for (std::size_t i = 0; i < boxqp_sol.
free_idx.size(); ++i) {
88 for (std::size_t j = 0; j < boxqp_sol.
free_idx.size(); ++j) {
92 STOP_PROFILER(
"SolverBoxDDP::Quu_invproj");
93 START_PROFILER(
"SolverBoxDDP::Quu_invproj_Qxu");
94 K_[t].noalias() = Quu_inv_[t] *
Qxu_[t].transpose();
95 STOP_PROFILER(
"SolverBoxDDP::Quu_invproj_Qxu");
100 START_PROFILER(
"SolverBoxDDP::Qu_proj");
101 for (std::size_t i = 0; i < boxqp_sol.
clamped_idx.size(); ++i) {
104 STOP_PROFILER(
"SolverBoxDDP::Qu_proj");
106 STOP_PROFILER(
"SolverBoxDDP::computeGains");
110 if (steplength > 1. || steplength < 0.) {
111 throw_pretty(
"Invalid argument: " 112 <<
"invalid step length, value is between 0. to 1.");
114 START_PROFILER(
"SolverBoxDDP::forwardPass");
117 const std::size_t T =
problem_->get_T();
118 const std::vector<boost::shared_ptr<ActionModelAbstract> >& models =
problem_->get_runningModels();
119 const std::vector<boost::shared_ptr<ActionDataAbstract> >& datas =
problem_->get_runningDatas();
120 for (std::size_t t = 0; t < T; ++t) {
121 const boost::shared_ptr<ActionModelAbstract>& m = models[t];
122 const boost::shared_ptr<ActionDataAbstract>& d = datas[t];
123 const std::size_t nu = m->get_nu();
129 if (m->get_has_control_limits()) {
130 us_try_[t] =
us_try_[t].cwiseMax(m->get_u_lb()).cwiseMin(m->get_u_ub());
140 STOP_PROFILER(
"SolverBoxDDP::forwardPass");
141 throw_pretty(
"forward_error");
143 if (raiseIfNaN(
xnext_.lpNorm<Eigen::Infinity>())) {
144 STOP_PROFILER(
"SolverBoxDDP::forwardPass");
145 throw_pretty(
"forward_error");
149 const boost::shared_ptr<ActionModelAbstract>& m =
problem_->get_terminalModel();
150 const boost::shared_ptr<ActionDataAbstract>& d =
problem_->get_terminalData();
154 m->get_state()->integrate(
xnext_,
fs_.back() * (steplength - 1),
xs_try_.back());
160 STOP_PROFILER(
"SolverBoxDDP::forwardPass");
161 throw_pretty(
"forward_error");
165 const std::vector<Eigen::MatrixXd>& SolverBoxDDP::get_Quu_inv()
const {
return Quu_inv_; }
virtual void allocateData()
Allocate all the internal data needed for the solver.
bool is_feasible_
Label that indicates is the iteration is feasible.
virtual void forwardPass(const double steplength)
Run the forward pass or rollout.
std::vector< MatrixXdRowMajor > K_
Feedback gains .
virtual void allocateData()
Allocate all the internal data needed for the solver.
std::vector< Eigen::VectorXd > xs_try_
State trajectory computed by line-search procedure.
virtual void resizeData()
Resizing the solver data.
const BoxQPSolution & solve(const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &lb, const Eigen::VectorXd &ub, const Eigen::VectorXd &xinit)
Compute the solution of bound-constrained QP based on Newton projection.
std::vector< Eigen::VectorXd > us_
Control trajectory.
std::vector< Eigen::VectorXd > k_
Feed-forward terms .
virtual void computeGains(const std::size_t t)
Compute the feedforward and feedback terms using a Cholesky decomposition.
Eigen::MatrixXd Hff_inv
Inverse of the free space Hessian.
Eigen::VectorXd xnext_
Next state .
boost::shared_ptr< ShootingProblem > problem_
optimal control problem
Eigen::VectorXd x
Decision vector.
std::vector< Eigen::VectorXd > xs_
State trajectory.
std::vector< Eigen::VectorXd > dx_
State error during the roll-out/forward-pass (size T)
std::vector< Eigen::VectorXd > fs_
Gaps/defects between shooting nodes.
virtual void computeGains(const std::size_t t)
Compute the feedforward and feedback terms using a Cholesky decomposition.
double th_stop_
Tolerance for stopping the algorithm.
std::vector< size_t > clamped_idx
Clamped space indexes.
virtual void resizeData()
Resizing the solver data.
std::vector< Eigen::MatrixXd > Qxu_
Hessian of the Hamiltonian .
std::vector< size_t > free_idx
Free space indexes.
std::vector< Eigen::VectorXd > us_try_
Control trajectory computed by line-search procedure.
std::vector< Eigen::MatrixXd > Quu_
Hessian of the Hamiltonian .
std::vector< Eigen::VectorXd > Qu_
Gradient of the Hamiltonian .
double cost_try_
Total cost computed by line-search procedure.