Add structure to solve optimal control problems #7
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…al control problems
I would need xf also for explicit integrators that need the control at the last step. So it is pointless to have this distinction
Added possibility to set the dynamics as cost or constraint. This was possible after registering the problem onto the solver.
Added some TODOs
Tested generation of list of variables in multiple shooting solver
It was not used within the library. The initialization is left to the user
Renamed constraint_values to constraint_multipliers
Added a test when naming a cost or a constraint
traversaro
approved these changes
May 8, 2023
|
Hi @diegoferigo, would you be able to review this PR? |
Considering that the branch https://github.com/ami-iit/hippopt/tree/humanoidPlanning diverged consisistently, I will go ahead and merge this! |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This PR adds the structure to solve optimal control problems. In particular, it introduces the
multiple_shootingsolver together with a minimal set of integrators. While developing the interface, I tried to have the definition of the optimal control problem as much agnostic as possible with respect to the method used to solve it (although only multiple shooting is available at the moment).The definition of the dynamics can be written in the minimal form
dot("x") == fwherexis the name of the state variable and f is a CasADi function.It also fixes #5 and #6
The PR is quite big, as most of the components evolved while I was writing the code. If it is too cumbersome I can try to split it in different PRs.