riccati_recursion.hpp

Go to the documentation of this file.

#ifndef ROBOTOC_RICCATI_RECURSION_HPP_
#define ROBOTOC_RICCATI_RECURSION_HPP_
 
#include "Eigen/Core"
 
#include "robotoc/core/direction.hpp"
#include "robotoc/core/kkt_matrix.hpp"
#include "robotoc/core/kkt_residual.hpp"
#include "robotoc/utils/aligned_vector.hpp"
#include "robotoc/riccati/riccati_factorization.hpp"
#include "robotoc/riccati/split_riccati_factorization.hpp"
#include "robotoc/riccati/lqr_policy.hpp"
#include "robotoc/riccati/riccati_factorizer.hpp"
#include "robotoc/ocp/ocp.hpp"
#include "robotoc/ocp/time_discretization.hpp"
 
 
namespace robotoc {
 
class RiccatiRecursion {
public:
  RiccatiRecursion(const OCP& ocp, const double max_dts0=0.1);
 
  RiccatiRecursion();
 
  ~RiccatiRecursion() = default;
 
  RiccatiRecursion(const RiccatiRecursion&) = default;
 
  RiccatiRecursion& operator=(const RiccatiRecursion&) = default;
 
  RiccatiRecursion(RiccatiRecursion&&) noexcept = default;
 
  RiccatiRecursion& operator=(RiccatiRecursion&&) noexcept = default;
 
  void setRegularization(const double max_dts0);
 
  void backwardRiccatiRecursion(const TimeDiscretization& time_discretization, 
                                KKTMatrix& kkt_matrix, 
                                KKTResidual& kkt_residual, 
                                RiccatiFactorization& factorization);
 
  void forwardRiccatiRecursion(const TimeDiscretization& time_discretization, 
                               const KKTMatrix& kkt_matrix, 
                               const KKTResidual& kkt_residual, 
                               const RiccatiFactorization& factorization,
                               Direction& d) const;
 
  const aligned_vector<LQRPolicy>& getLQRPolicy() const;
 
  void resizeData(const TimeDiscretization& time_discretization);
 
private:
  RiccatiFactorizer factorizer_;
  aligned_vector<LQRPolicy> lqr_policy_;
  aligned_vector<STOPolicy> sto_policy_;
  SplitRiccatiFactorization factorization_m_;
 
};
 
} // namespace robotoc
 
#endif // ROBOTkeps_OC_RICCATI_RECURSION_HPP_