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);
25 virtual ~SolverBoxDDP();
27 virtual void allocateData();
28 virtual void computeGains(
const std::size_t& t);
29 virtual void forwardPass(
const double& steplength);
31 const std::vector<Eigen::MatrixXd>& get_Quu_inv()
const;
35 std::vector<Eigen::MatrixXd> Quu_inv_;
36 Eigen::VectorXd du_lb_;
37 Eigen::VectorXd du_ub_;
42 #endif // CROCODDYL_CORE_SOLVERS_BOX_DDP_HPP_
This class implements a Box QP solver based on a Projected Newton method.