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[DdpCentroidal] Preserve latest returned value from ddp_solver_ to check whether ddp_solver_->solve() is successfully solved #6

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[DdpCentroidal] Preserve latest returned value from ddp_solver_ to check whether ddp_solver_->solve() is successfully solved #6

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3 changes: 3 additions & 0 deletions include/CCC/DdpCentroidal.h
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Original file line number Diff line number Diff line change
Expand Up @@ -362,5 +362,8 @@ class DdpCentroidal

//! Force scale limits (i.e., limits of \f$\lambda_i\f$ in the order of lower, upper)
std::array<double, 2> force_scale_limits_ = {0.0, 1e6};

//! Latest returned value from DDP solver
bool ddp_solved_ = false;
};
} // namespace CCC
4 changes: 2 additions & 2 deletions src/DdpCentroidal.cpp
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Expand Up @@ -226,11 +226,11 @@ Eigen::VectorXd DdpCentroidal::planOnce(const std::function<MotionParam(double)>
double t = current_time + i * ddp_problem_->dt();
current_u_list.push_back(DdpProblem::InputDimVector::Zero(ddp_problem_->inputDim(t)));
}
ddp_solver_->solve(current_time, initial_param.toState(ddp_problem_->mass_), current_u_list);
ddp_solved_ = ddp_solver_->solve(current_time, initial_param.toState(ddp_problem_->mass_), current_u_list);
}
else
{
ddp_solver_->solve(current_time, initial_param.toState(ddp_problem_->mass_), initial_param.u_list);
ddp_solved_ = ddp_solver_->solve(current_time, initial_param.toState(ddp_problem_->mass_), initial_param.u_list);
}

return ddp_solver_->controlData().u_list[0];
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