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cpp: Add offset to controller #39

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Merged
dominichofer merged 5 commits into from
Feb 13, 2025
Merged

cpp: Add offset to controller #39

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5aac754
cpp: Add offset to controller
dominichofer Feb 13, 2025
760b1a6
Add missing Q
dominichofer Feb 13, 2025
33c766f
Fix tests
dominichofer Feb 13, 2025
0dddd86
Typo fix
dominichofer Feb 13, 2025
2b77206
Fix bug
dominichofer Feb 13, 2025
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15 changes: 11 additions & 4 deletions src/deepcpp/controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,18 +137,22 @@ void Controller::clear()
y_ini.clear();
}

std::vector<VectorXd> Controller::apply(const std::vector<VectorXd> &target)
std::vector<VectorXd> Controller::apply(const std::vector<VectorXd> &target, const std::vector<VectorXd> &offset)
{
if (!is_initialized())
return {};

check_dimensions(target, "target", target_size, output_dims);

if (!offset.empty())
check_dimensions(offset, "offset", target_size, input_dims);

// Flatten
VectorXd target_ = concat(target);
VectorXd offset_ = offset.empty() ? VectorXd::Zero(target_size * output_dims) : concat(offset);

auto x = concat(u_ini.get(), y_ini.get());
auto w = M_u.transpose() * Q * (target_ - M_x * x);
auto w = M_u.transpose() * Q * (target_ - M_x * x) + R * offset_;
auto u_star = G.ldlt().solve(w).eval();

if (input_constrain_fkt != nullptr)
Expand All @@ -163,7 +167,10 @@ std::vector<VectorXd> Controller::apply(const std::vector<VectorXd> &target)
return split(u_star, target_size);
}

std::vector<VectorXd> Controller::apply(const VectorXd &target)
std::vector<VectorXd> Controller::apply(const VectorXd &target, const VectorXd &offset)
{
return apply(std::vector<VectorXd>{target});
return apply(
std::vector<VectorXd>{target},
offset.size() == 0 ? std::vector<VectorXd>{} : std::vector<VectorXd>{offset}
);
}
4 changes: 2 additions & 2 deletions src/deepcpp/controller.h
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Expand Up @@ -74,6 +74,6 @@ class Controller
bool is_initialized() const;
void update(VectorXd u, VectorXd y);
void clear();
std::vector<VectorXd> apply(const std::vector<VectorXd> &);
std::vector<VectorXd> apply(const VectorXd &);
std::vector<VectorXd> apply(const std::vector<VectorXd> &target, const std::vector<VectorXd> &offset = {});
std::vector<VectorXd> apply(const VectorXd &target, const VectorXd &offset = {});
};
25 changes: 23 additions & 2 deletions tests/deepcpp/test_controller.cpp
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Expand Up @@ -76,12 +76,17 @@ void warm_up_controller(Controller& controller, DiscreteLTI& system, const Vecto

// Control the system for a given number of time steps.
// Returns the output of the system after the last time step.
VectorXd control_system(Controller& controller, DiscreteLTI& system, const std::vector<VectorXd>& target, int time_steps)
VectorXd control_system(
Controller& controller,
DiscreteLTI& system,
const std::vector<VectorXd>& target,
int time_steps,
const std::vector<VectorXd>& offset = {})
{
VectorXd u, y;
for (int i = 0; i < time_steps; ++i)
{
u = controller.apply(target).front();
u = controller.apply(target, offset).front();
y = system.apply(u);
controller.update(u, y);
}
Expand Down Expand Up @@ -119,6 +124,14 @@ TEST_F(Test_1D_in_1D_out_LTI, Constrained)
expect_near(y, target[0], 1e-5);
}

TEST_F(Test_1D_in_1D_out_LTI, Offset)
{
Controller controller{u_d, y_d, T_ini, target.size(), /*Q*/1.0, /*R*/0.001};
warm_up_controller(controller, system, Vector(1));
VectorXd y = control_system(controller, system, target, T_ini, {Vector(10), Vector(10)});
expect_near(y, target[0], 0.02);
}


class Test_2D_in_3D_out_LTI : public ::testing::Test
{
Expand Down Expand Up @@ -150,3 +163,11 @@ TEST_F(Test_2D_in_3D_out_LTI, Constrained)
VectorXd y = control_system(controller, system, target, 2 * T_ini);
expect_near(y, target[0], 0.05);
}

TEST_F(Test_2D_in_3D_out_LTI, Offset)
{
Controller controller{u_d, y_d, T_ini, target.size(), /*Q*/1.0, /*R*/0.001};
warm_up_controller(controller, system, Vector(1, 1));
VectorXd y = control_system(controller, system, target, T_ini, {Vector(1, 1)});
expect_near(y, target[0], 0.05);
}