9 #ifndef CROCODDYL_CORE_SOLVERS_FDDP_HPP_ 10 #define CROCODDYL_CORE_SOLVERS_FDDP_HPP_ 12 #include <Eigen/Cholesky> 15 #include "crocoddyl/core/solvers/ddp.hpp" 21 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
23 explicit SolverFDDP(boost::shared_ptr<ShootingProblem> problem);
24 virtual ~SolverFDDP();
26 virtual bool solve(
const std::vector<Eigen::VectorXd>& init_xs = DEFAULT_VECTOR,
27 const std::vector<Eigen::VectorXd>& init_us = DEFAULT_VECTOR,
const std::size_t& maxiter = 100,
28 const bool& is_feasible =
false,
const double& regInit = 1e-9);
29 virtual const Eigen::Vector2d& expectedImprovement();
30 void updateExpectedImprovement();
31 virtual double calcDiff();
32 virtual void forwardPass(
const double& stepLength);
34 double get_th_acceptnegstep()
const;
35 void set_th_acceptnegstep(
const double& th_acceptnegstep);
43 double th_acceptnegstep_;
48 #endif // CROCODDYL_CORE_SOLVERS_FDDP_HPP_