Merge pull request #276 from thowell/ilqs_fix

iLQS fix + planner tidy

Author: erez-tom

mjpc/direct/direct.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MJPC_DIRECT_OPTIMIZER_H_
-#define MJPC_DIRECT_OPTIMIZER_H_
+#ifndef MJPC_DIRECT_DIRECT_H_
+#define MJPC_DIRECT_DIRECT_H_
 
 #include <memory>
 #include <string>
@@ -64,7 +64,7 @@ class Direct {
       : model_parameters_(LoadModelParameters()), pool_(num_threads) {}
 
   // constructor
-  Direct(const mjModel* model, int length = 3, int max_history = 0);
+  explicit Direct(const mjModel* model, int length = 3, int max_history = 0);
 
   // destructor
   virtual ~Direct() {
@@ -509,4 +509,4 @@ std::string StatusString(int code);
 
 }  // namespace mjpc
 
-#endif  // MJPC_DIRECT_OPTIMIZER_H_
+#endif  // MJPC_DIRECT_DIRECT_H_

mjpc/planners/gradient/planner.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MJPC_PLANNERS_GRADIENT_OPTIMIZER_H_
-#define MJPC_PLANNERS_GRADIENT_OPTIMIZER_H_
+#ifndef MJPC_PLANNERS_GRADIENT_PLANNER_H_
+#define MJPC_PLANNERS_GRADIENT_PLANNER_H_
 
 #include <memory>
 #include <shared_mutex>
@@ -164,4 +164,4 @@ class GradientPlanner : public Planner {
 
 }  // namespace mjpc
 
-#endif  // MJPC_PLANNERS_GRADIENT_OPTIMIZER_H_
+#endif  // MJPC_PLANNERS_GRADIENT_PLANNER_H_

mjpc/planners/ilqg/planner.h

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MJPC_PLANNERS_ILQG_OPTIMIZER_H_
-#define MJPC_PLANNERS_ILQG_OPTIMIZER_H_
+#ifndef MJPC_PLANNERS_ILQG_PLANNER_H_
+#define MJPC_PLANNERS_ILQG_PLANNER_H_
 
 #include <shared_mutex>
 #include <vector>
@@ -161,4 +161,4 @@ class iLQGPlanner : public Planner {
 
 }  // namespace mjpc
 
-#endif  // MJPC_PLANNERS_ILQG_OPTIMIZER_H_
+#endif  // MJPC_PLANNERS_ILQG_PLANNER_H_

mjpc/planners/ilqs/planner.cc

@@ -114,8 +114,8 @@ void iLQSPlanner::OptimizePolicy(int horizon, ThreadPool& pool) {
     if (dim_actions != sampling.model->nu * (horizon - 1) ||
         dim_parameters != sampling.model->nu * num_spline_points) {
       // dimension
-      int dim_parameters = sampling.model->nu * num_spline_points;
-      int dim_actions = sampling.model->nu * (horizon - 1);
+      dim_parameters = sampling.model->nu * num_spline_points;
+      dim_actions = sampling.model->nu * (horizon - 1);
 
       // compute parameter to action mapping
       mappings[sampling.policy.representation]->Compute(

mjpc/planners/ilqs/planner.h

@@ -12,11 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef MJPC_PLANNERS_ILQS_OPTIMIZER_H_
-#define MJPC_PLANNERS_ILQS_OPTIMIZER_H_
+#ifndef MJPC_PLANNERS_ILQS_PLANNER_H_
+#define MJPC_PLANNERS_ILQS_PLANNER_H_
 
 #include <mujoco/mujoco.h>
 
+#include <memory>
 #include <shared_mutex>
 #include <vector>
 
@@ -110,4 +111,4 @@ class iLQSPlanner : public Planner {
 
 }  // namespace mjpc
 
-#endif  // MJPC_PLANNERS_ILQS_OPTIMIZER_H_
+#endif  // MJPC_PLANNERS_ILQS_PLANNER_H_