remove duplications

CMakeLists.txt

-project(DDP C CXX)
-
-cmake_minimum_required(VERSION 2.8)
-
-add_subdirectory(cpp)

cpp/CMakeLists.txt

-add_subdirectory(src)
-
-include_directories(include)

cpp/include/CMakeLists.txt

-file(GLOB include_H . *.h)
-
-INSTALL(FILES ${include_H} DESTINATION include)

cpp/include/costfunction.h

-#ifndef COSTFUNCTION_H
-#define COSTFUNCTION_H
-
-class CostFunction
-{
-public:
-    CostFunction();
-};
-
-#endif // COSTFUNCTION_H

cpp/include/dynamicmodel.h

-#ifndef DYNAMICMODEL_H
-#define DYNAMICMODEL_H
-
-#include <Eigen/Core>
-
-class DynamicModel
-{
-// constructors //
-public:
-    DynamicModel();
-
-// attributes //
-public:
-private:
-    unsigned int stateNb;
-    unsigned int commandNb;
-protected:
-
-// methods //
-public:
-    virtual void computeNextState(unsigned int dt,unsigned int X,unsigned int U);
-    virtual void computeAllModelDeriv(unsigned int dt,unsigned int X,unsigned int U);
-    virtual unsigned int getStateNb();
-    virtual unsigned int getCommandNb();
-private:
-protected:
-};
-
-#endif // DYNAMICMODEL_H

cpp/include/ilqrsolver.h

-#ifndef ILQRSOLVER_H
-#define ILQRSOLVER_H
-
-#include "dynamicmodel.h"
-#include "costfunction.h"
-#include <Eigen/Core>
-
-class ILQRSolver
-{
-public:
-    ILQRSolver(DynamicModel myDynamicModel, CostFunction myCostFunction);
-private:
-protected:
-    // attributes //
-public:
-private:
-    DynamicModel dynamicModel;
-    CostFunction costFunction;
-    unsigned int stateNb;
-    unsigned int commandNb;
-    Eigen::VectorXf xInit;
-    Eigen::VectorXf xDes;
-    unsigned int T;
-    double dt;
-    unsigned int iter;
-    unsigned int iterMax;
-    double stopCrit;
-    double changeAmount;
-
-    Eigen::VectorXf* xList;
-    Eigen::VectorXf* uList;
-    Eigen::VectorXf* updatedxList;
-    Eigen::VectorXf* updateduList;
-
-
-protected:
-    // methods //
-public:
-    void initSolver(Eigen::VectorXf myxInit, Eigen::VectorXf myxDes, unsigned int myT,
-                    double mydt, unsigned int myiterMax,double mystopCrit);
-    void solveTrajectory();
-    void initTrajectory();
-    void backwardLoop();
-    void forwardLoop();
-private:
-protected:
-
-};
-
-#endif // ILQRSOLVER_H

cpp/include/romeosimpleactuator.h

-#ifndef ROMEOSIMPLEACTUATOR_H
-#define ROMEOSIMPLEACTUATOR_H
-
-#include "dynamicmodel.h"
-#include <Eigen/Core>
-
-class RomeoSimpleActuator : public DynamicModel
-{
-public:
-    RomeoSimpleActuator();
-private:
-protected:
-
-    // attributes //
-public:
-private:
-    unsigned int stateNb;
-    unsigned int commandNb;
-    double k;
-    double R;
-    double Jm;
-    double Jl;
-    double Cf0;
-    double a;
-protected:
-    //methods //
-public:
-    void computeNextState(unsigned int dt,Eigen::VectorXd X,unsigned int U);
-    void computeAllModelDeriv(unsigned int dt,unsigned int X,unsigned int U);
-    unsigned int getStateNb();
-    unsigned int getCommandNb();
-private:
-protected:
-
-};
-
-#endif // ROMEOSIMPLEACTUATOR_H

cpp/src/CMakeLists.txt

-include_directories(include)
-
-ADD_LIBRARY(DDP ${SRC})
-
-install(TARGETS DDP DESTINATION lib)
-
-SET(PROJECT_LIBS DDP)
-
-add_executable(execmain main.cpp)
-
-TARGET_LINK_LIBRARIES(execmain ${PROJECT_LIBS})
-install(TARGETS execmain DESTINATION bin)
-
-

cpp/src/costfunction.cpp

-#include "costfunction.h"
-
-CostFunction::CostFunction()
-{
-}

cpp/src/dynamicmodel.cpp

-#include "dynamicmodel.h"
-
-DynamicModel::DynamicModel()
-{
-}
-
-void DynamicModel::computeAllModelDeriv(unsigned int dt, unsigned int X, unsigned int U)
-{
-
-}
-
-void DynamicModel::computeNextState(unsigned int dt, unsigned int X, unsigned int U)
-{
-
-}
-
-unsigned int DynamicModel::getCommandNb()
-{
-
-}
-
-unsigned int DynamicModel::getStateNb()
-{
-
-}

cpp/src/ilqrsolver.cpp

-#include "ilqrsolver.h"
-
-ILQRSolver::ILQRSolver(DynamicModel myDynamicModel, CostFunction myCostFunction)
-{
-    this->dynamicModel = myDynamicModel;
-    this->costFunction = myCostFunction;
-    this->stateNb = myDynamicModel.getStateNb();
-    this->commandNb = myDynamicModel.getCommandNb();
-}
-
-void ILQRSolver::initSolver(Eigen::VectorXf myxInit, Eigen::VectorXf myxDes, unsigned int myT,
-                       double mydt, unsigned int myiterMax,double mystopCrit)
-{
-    this->xInit = myxInit;
-    this->xDes = myxDes;
-    this->T = myT;
-    this->dt = mydt;
-    this->iterMax = myiterMax;
-    this->stopCrit = mystopCrit;
-
-    this->xList = new Eigen::VectorXf[myT+1];
-    this->uList = new Eigen::VectorXf[myT];
-    this->updatedxList = new Eigen::VectorXf[myT+1];
-    this->updateduList = new Eigen::VectorXf[myT];
-
-}
-
-void ILQRSolver::solveTrajectory()
-{
-    this->initTrajectory();
-    for(this->iter=0;this->iter<this->iterMax;this->iter++)
-    {
-        this->backwardLoop();
-        this->forwardLoop();
-        this->xList = this->updatedxList;
-        this->uList = this->updateduList;
-        if(this->changeAmount<this->stopCrit)
-            break;
-    }
-}
-
-void ILQRSolver::initTrajectory()
-{
-    this->xList[0] = this->xInit;
-    Eigen::Vector<double,this->commandNb> zerosCommand;
-    for(int i=0;i<this->T;i++)
-    {
-        uList[i] = zerosCommand;
-    }
-}
-
-void ILQRSolver::backwardLoop()
-{
-
-}
-
-void ILQRSolver::forwardLoop()
-{
-
-}

cpp/src/main.cpp

-#include <iostream>
-#include "ilqrsolver.h"
-#include "romeosimpleactuator.h"
-#include <Eigen/Core>
-
-using namespace std;
-
-int main()
-{
-    RomeoSimpleActuator romeoActuatorModel;
-    CostFunction costFunction;
-    ILQRSolver iLQRSolver(romeoActuatorModel,costFunction);
-
-    Eigen::VectorXf xInit(4);
-    Eigen::VectorXf xDes(4);
-
-    Eigen::VectorXf xList[2];
-
-
-
-    xDes(0) = 1.0;
-
-    xList[0] = xInit;
-    xList[1] = xDes;
-
-    cout << xList[0]<< endl;
-    cout << xList[1] << endl;
-
-    cout << "done" << endl;
-}
-

cpp/src/romeosimpleactuator.cpp

-#include "romeosimpleactuator.h"
-
-RomeoSimpleActuator::RomeoSimpleActuator()
-{
-    this->commandNb = 1;
-    this->stateNb = 4;
-    this->k = 1000.0;
-    this->R = 200.0;
-    this->Jm = 138*1e-7;
-    this->Jl = 0.1;
-    this->Cf0 = 0.1;
-    this->a = 10.0;
-}
-
-
-void RomeoSimpleActuator::computeNextState(unsigned int dt,Eigen::VectorXd X,unsigned int U)
-{
-
-}
-
-void RomeoSimpleActuator::computeAllModelDeriv(unsigned int dt,unsigned int X,unsigned int U)
-{
-
-}
-
-/// accessors ///
-unsigned int RomeoSimpleActuator::getStateNb()
-{
-    return this->stateNb;
-}
-
-unsigned int RomeoSimpleActuator::getCommandNb()
-{
-    return this->commandNb;
-}