unconstr_line_search.hpp

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#ifndef ROBOTOC_UNCONSTR_LINE_SEARCH_HPP_
#define ROBOTOC_UNCONSTR_LINE_SEARCH_HPP_
 
#include <vector>
 
#include "Eigen/Core"
 
#include "robotoc/robot/robot.hpp"
#include "robotoc/utils/aligned_vector.hpp"
#include "robotoc/core/solution.hpp"
#include "robotoc/core/direction.hpp"
#include "robotoc/core/kkt_residual.hpp"
#include "robotoc/cost/cost_function.hpp"
#include "robotoc/constraints/constraints.hpp"
#include "robotoc/ocp/ocp.hpp"
#include "robotoc/unconstr/unconstr_direct_multiple_shooting.hpp"
#include "robotoc/parnmpc/unconstr_backward_correction.hpp"
#include "robotoc/line_search/line_search_filter.hpp"
#include "robotoc/line_search/line_search_settings.hpp"
 
 
namespace robotoc {
 
class UnconstrLineSearch {
public:
  UnconstrLineSearch(const OCP& ocp, 
                     const LineSearchSettings& settings=LineSearchSettings());
 
  UnconstrLineSearch();
 
  ~UnconstrLineSearch() = default;
 
  UnconstrLineSearch(const UnconstrLineSearch&) = default;
 
  UnconstrLineSearch& operator=(const UnconstrLineSearch&) = default;
 
  UnconstrLineSearch(UnconstrLineSearch&&) noexcept = default;
 
  UnconstrLineSearch& operator=(UnconstrLineSearch&&) noexcept = default;
 
  double computeStepSize(const UnconstrDirectMultipleShooting& dms, 
                         aligned_vector<Robot>& robots, 
                         const std::vector<GridInfo>& time_discretization, 
                         const Eigen::VectorXd& q, const Eigen::VectorXd& v, 
                         const Solution& s, const Direction& d, 
                         const double max_primal_step_size);
 
  double computeStepSize(const UnconstrBackwardCorrection& bc, 
                         aligned_vector<Robot>& robots, 
                         const std::vector<GridInfo>& time_discretization, 
                         const Eigen::VectorXd& q, const Eigen::VectorXd& v, 
                         const Solution& s, const Direction& d, 
                         const double max_primal_step_size);
 
  void clearHistory();
 
private:
  LineSearchFilter filter_;
  LineSearchSettings settings_;
  UnconstrDirectMultipleShooting dms_trial_;
  UnconstrBackwardCorrection bc_trial_;
  Solution s_trial_;
  KKTResidual kkt_residual_;
 
};
 
} // namespace robotoc 
 
#endif // ROBOTOC_UNCONSTR_LINE_SEARCH_HPP_