9 #ifndef CROCODDYL_CORE_SOLVERS_BOX_DDP_HPP_ 10 #define CROCODDYL_CORE_SOLVERS_BOX_DDP_HPP_ 12 #include <Eigen/Cholesky> 15 #include "crocoddyl/core/solvers/ddp.hpp" 16 #include "crocoddyl/core/solvers/box-qp.hpp" 22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 explicit SolverBoxDDP(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_;
43 #endif // CROCODDYL_CORE_SOLVERS_BOX_DDP_HPP_ virtual void allocateData()
Allocate all the internal data needed for the solver.
virtual void forwardPass(const double steplength)
Run the forward pass or rollout.
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 resizeData()
Resizing the solver data.
Differential Dynamic Programming (DDP) solver.