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fix bug in asddp #119

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Merged
merged 1 commit into from
Jun 2, 2025
Merged

fix bug in asddp #119

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13 changes: 3 additions & 10 deletions src/cddp_core/asddp_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,20 +159,14 @@ CDDPSolution CDDP::solveASCDDP()

// Decrease regularization
decreaseRegularization();

// // Check termination
// if (dJ_ < options_.cost_tolerance) {
// solution.converged = true;
// break;
// }
} else {
bool early_termination_flag = false; // TODO: Improve early termination
// Increase regularization
increaseRegularization();

// If limit is reached treat as converged
if (isRegularizationLimitReached()) {
if ((dJ_ < options_.cost_tolerance * 1e2) ||
if ((dJ_ < options_.cost_tolerance * 1e1) ||
(optimality_gap_ < options_.grad_tolerance * 1e1))
{
solution.converged = true;
Expand Down Expand Up @@ -342,8 +336,8 @@ bool CDDP::solveASCDDPBackwardPass()
for (int j = 0; j < constraint_vals.size(); j++)
{
if (std::abs(constraint_vals(j)) <= active_set_tol) {
C.row(active_constraint_index) = C_state.row(j) * Fu;
D.row(active_constraint_index) = -D_state.row(j) * Fx;
C.row(active_constraint_index) = C_state.row(j) * B;
D.row(active_constraint_index) = C_state.row(j) * A;
active_constraint_index++;
}
}
Expand Down Expand Up @@ -422,7 +416,6 @@ bool CDDP::solveASCDDPBackwardPass()
// Compute optimality gap (Inf-norm) for convergence check
Qu_error = std::max(Qu_error, Q_u.lpNorm<Eigen::Infinity>());

// TODO: Add constraint optimality gap analysis
optimality_gap_ = Qu_error;
}

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