class LQRTest(ActionModelAbstractTestCase):
NX = randint(2, 21)
NU = randint(2, NX)
MODEL = crocoddyl.ActionModelLQR(NX, NU)
MODEL_DER = LQRModelDerived(NX, NU)
import crocoddyl
import numpy as np
from crocoddyl import a2m
from crocoddyl.fddp import SolverFDDP
from numpy import dot
np.random.seed(0)
NX, NU = 2, 1
T = 10
models = [
crocoddyl.ActionModelLQR(NX, NU, driftFree=False) for t in range(T + 1)
]
x0 = np.array([1.] * NX)
problem = crocoddyl.ShootingProblem(x0, models[:-1], models[-1])
# models[1].Lx[:] = 0
# models[0].Lx[:] = 0
# models[0].Fx[:,:] = 0
# models[0].Fu[:,:] = 0
# x0[:] =0
# models[0].f0[:] = 0
ddp = SolverFDDP(problem)
ddp.regMin = 0
kkt = crocoddyl.SolverKKT(problem)
[xskkt, uskkt, donekkt] = kkt.solve(maxiter=1)
# [xsddp,usddp,doneddp] = ddp.solve(maxiter=1,regInit=0)
ddp.x_reg = 0