Merge pull request #273 from thowell/sample_gradient_v2

Sample gradient planner (v2)

Author: erez-tom

mjpc/CMakeLists.txt

@@ -83,6 +83,8 @@ add_library(
   planners/cross_entropy/planner.h
   planners/robust/robust_planner.cc
   planners/robust/robust_planner.h
+  planners/sample_gradient/planner.cc
+  planners/sample_gradient/planner.h
   planners/sampling/planner.cc
   planners/sampling/planner.h
   planners/sampling/policy.cc

mjpc/main.cc

@@ -47,6 +47,6 @@ int main(int argc, char** argv) {
 #endif
   absl::ParseCommandLine(argc, argv);
 
-  mjpc::StartApp(mjpc::GetTasks(), 14);  // start with quadruped flat
+  mjpc::StartApp(mjpc::GetTasks(), 11);  // start with quadruped flat
   return 0;
 }

mjpc/planners/include.cc

@@ -23,6 +23,7 @@
 #include "mjpc/planners/ilqs/planner.h"
 #include "mjpc/planners/planner.h"
 #include "mjpc/planners/robust/robust_planner.h"
+#include "mjpc/planners/sample_gradient/planner.h"
 #include "mjpc/planners/sampling/planner.h"
 
 namespace mjpc {
@@ -32,7 +33,8 @@ const char kPlannerNames[] =
     "iLQG\n"
     "iLQS\n"
     "Robust Sampling\n"
-    "Cross Entropy";
+    "Cross Entropy\n"
+    "Sample Gradient";
 
 // load all available planners
 std::vector<std::unique_ptr<mjpc::Planner>> LoadPlanners() {
@@ -46,6 +48,7 @@ std::vector<std::unique_ptr<mjpc::Planner>> LoadPlanners() {
   planners.emplace_back(
       new RobustPlanner(std::make_unique<mjpc::SamplingPlanner>()));
   planners.emplace_back(new mjpc::CrossEntropyPlanner);
+  planners.emplace_back(new mjpc::SampleGradientPlanner);
   return planners;
 }
 

mjpc/planners/planner.h

@@ -26,6 +26,7 @@
 namespace mjpc {
 
 inline constexpr int kMaxTrajectory = 128;
+inline constexpr int kMaxTrajectoryLarge = 1028;
 
 // virtual planner
 class Planner {