Modify CDDP to update reference states and update reference state acc…

…ordingly (#66)
astomodynamics · Dec 27, 2024 · 14d44a1 · 14d44a1
1 parent cb8d461
commit 14d44a1
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Showing 2 changed files with 17 additions and 2 deletions.
diff --git a/include/cddp-cpp/cddp_core/cddp_core.hpp b/include/cddp-cpp/cddp_core/cddp_core.hpp
@@ -162,7 +162,17 @@ class CDDP {
      * @brief Set the Reference state
      * @param reference_state  Reference state
      */
-    void setReferenceState(const Eigen::VectorXd& reference_state) { reference_state_ = reference_state; }
+    void setReferenceState(const Eigen::VectorXd& reference_state) {        
+        reference_state_ = reference_state; 
+        // Update the objective reference state
+        objective_->setReferenceState(reference_state);   
+    }
+
+    void setReferenceStates(const std::vector<Eigen::VectorXd>& reference_states) {
+        reference_states_ = reference_states;
+        // Update the objective reference states
+        objective_->setReferenceStates(reference_states);
+    }
 
     /**
      * @brief Set the time horizon for the problem
@@ -282,6 +292,7 @@ class CDDP {
     std::unique_ptr<LogBarrier> log_barrier_;
     Eigen::VectorXd initial_state_;      
     Eigen::VectorXd reference_state_;      // Desired reference state
+    std::vector<Eigen::VectorXd> reference_states_;     // Desired reference states (trajectory)
     int horizon_;                      // Time horizon for the problem
     double timestep_;                  // Time step for the problem
     CDDPOptions options_;              // Options for the solver

diff --git a/tests/cddp_core/test_logcddp_core.cpp b/tests/cddp_core/test_logcddp_core.cpp
@@ -46,7 +46,7 @@ TEST(CDDPTest, SolveLogCDDP) {
           0.0, 0.0, 10.0;
     Qf = 0.5 * Qf;
     Eigen::VectorXd goal_state(state_dim);
-    goal_state << 2.0, 2.0, M_PI/2.0;
+    goal_state << 3.0, 2.0, M_PI/2.0;
 
     // Create an empty vector of Eigen::VectorXd
     std::vector<Eigen::VectorXd> empty_reference_states; 
@@ -82,6 +82,10 @@ TEST(CDDPTest, SolveLogCDDP) {
     cddp_solver.setDynamicalSystem(std::move(system));
     cddp_solver.setObjective(std::move(objective));
 
+    // Update goal state (for test)
+    goal_state << 2.0, 2.0, M_PI/2.0;
+    cddp_solver.setReferenceState(goal_state);
+
     // Define control box constraints
     Eigen::VectorXd control_lower_bound(control_dim);
     control_lower_bound << -1.0, -M_PI;