Optimization::Solver::PLDPSolverHerdt Class Reference

#include <Mathematics/PLDPSolverHerdt.hh>

List of all members.

Public Member Functions
	PLDPSolverHerdt (unsigned int CardU, double *iPu, double *Px, double *Pu, double *iLQ)
	Constructor.
	~PLDPSolverHerdt ()
	Destructor.
int	SolveProblem (std::deque< PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_t > &QueueOfLConstraintInequalitiesFreeFeet, std::deque< PatternGeneratorJRL::SupportFeet_t > &QueueOfSupportFeet, double *CstPartOfTheCostFunction, unsigned int NbOfConstraints, double *LinearPartOfConstraints, double *CstPartOfConstraints, double *XkYk, double *X, unsigned int NumberOfRemovedConstraints, unsigned int NbRemovedFootCstr, bool StartingSequence, unsigned int NumberSteps, bool CurrentStateChanged, double time)
	Solve the optimization problem.
Protected Member Functions
void	InitializeSolver (unsigned int NumberSteps)
void	AllocateMemoryForSolver (unsigned int NumberSteps)
double	ComputeAlpha (vector< unsigned int > &NewActivatedConstraints, unsigned int NumberSteps)
void	WriteCurrentZMPSolution (string filename, double *XkYk)
Initial solution methods related
int	ComputeInitialSolution (std::deque< PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_t > &QueueOfLConstraintInequalitiesFreeFeet, std::deque< PatternGeneratorJRL::SupportFeet_t > &QueueOfSupportFeet, unsigned int NumberSteps, double *XkYk)
int	PrecomputeiPuPx (unsigned int NumberSteps)
Projected descent direction methods related
int	ComputeProjectedDescentDirection (unsigned int NumberSteps)
	Compute Projected descent direction.
int	ForwardSubstitution ()
	Forward substitution. First Phase EE^t v2 = v1 <-> LL^t v2 = v1 Now solving L y = v1.
int	BackwardSubstitution ()
	Compute v2 q (14b) in Dimitrov 2009. Second phase a Now solving LL^t v2 = v1 <-> L y = v1 with L^t v2 = y y solved with first phase. So now we are looking for v2.

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Detailed Description

This class implements a two stage strategy to solve the following optimal problem:

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Constructor & Destructor Documentation

PLDPSolverHerdt::PLDPSolverHerdt	(	unsigned int	CardU,
		double *	iPu,
		double *	Px,
		double *	Pu,
		double *	iLQ
	)

Constructor.

PLDPSolverHerdt::~PLDPSolverHerdt

(

)

Destructor.

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Member Function Documentation

void PLDPSolverHerdt::AllocateMemoryForSolver

(

unsigned int

NumberSteps

)

[protected]

Allocate memory for solver.

int PLDPSolverHerdt::BackwardSubstitution

(

)

[protected]

Compute v2 q (14b) in Dimitrov 2009. Second phase a Now solving LL^t v2 = v1 <-> L y = v1 with L^t v2 = y y solved with first phase. So now we are looking for v2.

double PLDPSolverHerdt::ComputeAlpha	(	vector< unsigned int > &	NewActivatedConstraints,
		unsigned int	NumberSteps
	)		[protected]

Detecting violated constraints

int PLDPSolverHerdt::ComputeInitialSolution	(	std::deque< PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_t > &	QueueOfLConstraintInequalitiesFreeFeet,
		std::deque< PatternGeneratorJRL::SupportFeet_t > &	QueueOfSupportFeet,
		unsigned int	NumberSteps,
		double *	XkYk
	)		[protected]

Compute the initial solution

The initial solution of the problem is given by identical zmp and feet positions that are lying inside the feasible zones defined by the constraints on the feet placements. U0 = -iPu * Px [Xkt Ykt]t + iPu * InitialZMP

int PLDPSolverHerdt::ComputeProjectedDescentDirection

(

unsigned int

NumberSteps

)

[protected]

Compute Projected descent direction.

int PLDPSolverHerdt::ForwardSubstitution

(

)

[protected]

Forward substitution. First Phase EE^t v2 = v1 <-> LL^t v2 = v1 Now solving L y = v1.

void PLDPSolverHerdt::InitializeSolver

(

unsigned int

NumberSteps

)

[protected]

Initialize the internal variables of the class.

int PLDPSolverHerdt::PrecomputeiPuPx

(

unsigned int

NumberSteps

)

[protected]

Precompite iPuPx

int PLDPSolverHerdt::SolveProblem	(	std::deque< PatternGeneratorJRL::LinearConstraintInequalityFreeFeet_t > &	QueueOfLConstraintInequalitiesFreeFeet,
		std::deque< PatternGeneratorJRL::SupportFeet_t > &	QueueOfSupportFeet,
		double *	CstPartOfTheCostFunction,
		unsigned int	NbOfConstraints,
		double *	LinearPartOfConstraints,
		double *	CstPartOfConstraints,
		double *	XkYk,
		double *	X,
		unsigned int	NumberOfRemovedConstraints,
		unsigned int	NbRemovedFootCstr,
		bool	StartingSequence,
		unsigned int	NumberSteps,
		bool	CurrentStateChanged,
		double	time
	)

Solve the optimization problem.

Initialization de cholesky.

Step two: Compute the projected descent direction.

Step three : Compute alpha

Compute new solution.

void PLDPSolverHerdt::WriteCurrentZMPSolution	(	string	filename,
		double *	XkYk
	)		[protected]

Write current ZMP ref trajectory associated with current value of m_Vk.