ddp_solver.py File Reference

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Classes
class	engine.control.robust_ddp.ddp_solver.DDPSolution

Namespaces
namespace	engine
namespace	engine.control
namespace	engine.control.robust_ddp
namespace	engine.control.robust_ddp.ddp_solver

Functions
DDPSolution	engine.control.robust_ddp.ddp_solver.solve_ddp (np.ndarray x0, np.ndarray u_seq_init, np.ndarray F_ref, np.ndarray MR_ref, ControllerConfig cfg, DynamicsParams dynamics_params, EngineWrapper engine_wrapper, Optional[np.ndarray] w_bar=None, float alpha_init=2.0, float alpha_min=1e-5, float reg_init=1e-4, float reg_factor=5.0, bool use_robustification=True, float gamma_robust=1.0)
Tuple[np.ndarray, List[EngineEstimate], float, List[Dict[str, float]]]	engine.control.robust_ddp.ddp_solver.forward_rollout (np.ndarray x0, np.ndarray u_seq, np.ndarray F_ref, np.ndarray MR_ref, ControllerConfig cfg, DynamicsParams params, EngineWrapper engine_wrapper, float dt)
float	engine.control.robust_ddp.ddp_solver.running_cost (np.ndarray x, np.ndarray u, EngineEstimate eng_est, float F_ref, float MR_ref, ControllerConfig cfg, Dict[str, float] constraints, float dt)
Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]	engine.control.robust_ddp.ddp_solver.backward_pass (np.ndarray x_seq, np.ndarray u_seq, List[EngineEstimate] eng_estimates, np.ndarray F_ref, np.ndarray MR_ref, ControllerConfig cfg, DynamicsParams params, EngineWrapper engine_wrapper, float dt, float reg, np.ndarray w_bar, bool use_robustification, float gamma_robust)
Tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray, np.ndarray]	engine.control.robust_ddp.ddp_solver.cost_derivatives (np.ndarray x, np.ndarray u, EngineEstimate eng_est, float F_ref, float MR_ref, ControllerConfig cfg, float dt, Optional[EngineWrapper] engine_wrapper=None)
Tuple[np.ndarray, float, float]	engine.control.robust_ddp.ddp_solver.forward_line_search (np.ndarray x0, np.ndarray u_seq, np.ndarray k_seq, np.ndarray K_seq, np.ndarray x_seq_nom, np.ndarray F_ref, np.ndarray MR_ref, ControllerConfig cfg, DynamicsParams params, EngineWrapper engine_wrapper, float dt, float alpha_init, float alpha_min)