def parameter_dual_regularization(self, pdist, qdist, kappa):
regcost = QuadraticCost(self.dm_state, self.dm_state, self.nb_steps + 1)
regcost.Cxx, regcost.cx, regcost.c0 = parameter_dual_regularization(pdist.mu, pdist.sigma,
qdist.mu, qdist.sigma,
kappa, self.dm_state, self.nb_steps)
return regcost
def policy_augment_cost(self, alpha):
agcost = QuadraticCost(self.dm_state, self.dm_act, self.nb_steps + 1)
agcost.Cxx, agcost.cx, agcost.Cuu,\
agcost.cu, agcost.Cxu, agcost.c0 = policy_augment_cost(self.cost.Cxx, self.cost.cx, self.cost.Cuu,
self.cost.cu, self.cost.Cxu, self.cost.c0,
self.ctl.K, self.ctl.kff, self.ctl.sigma,
alpha, self.dm_state, self.dm_act, self.nb_steps)
return agcost
def parameter_augment_cost(self, beta):
agcost = QuadraticCost(self.dm_param, self.dm_param, self.nb_steps)
agcost.Cxx, agcost.cx, agcost.c0 = parameter_augment_cost(
self.nominal.mu, self.nominal.sigma, beta, self.dm_param,
self.nb_steps)
return agcost
def regularized_parameter_augment_cost(self, eta, last):
agcost = QuadraticCost(self.dm_param, self.dm_param, self.nb_steps)
agcost.Cxx, agcost.cx, agcost.c0 = regularized_parameter_augment_cost(
last.mu, last.sigma, eta, self.dm_param, self.nb_steps)
return agcost