Refactor solver core and switch to typed CDDP solutions#159
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- Unify ControlConstraint/StateConstraint into BoxConstraint<> template - Add default zero-Hessian implementations in Constraint base class - Extract InteriorPointOptions/MultiShootingOptions base structs in options - Create CDDPSolverBase with template method solve() pattern - Migrate all 4 solvers (CLDDP, LogDDP, IPDDP, MSIPDDP) to use base class - Add DynamicalSystem::makeZeroTensor() helper, update 16 dynamics models - Consolidate 9 finite difference functions into 3 unified templates
Eliminates all std::any_cast usage across 41 files. Solution fields
are now accessed directly (e.g., solution.state_trajectory instead of
std::any_cast<vector<VectorXd>>(solution.at("state_trajectory"))).
Create cddp_example_utils.hpp with extractComponent, makeTimeVector, ensurePlotDir, and makeInitialTrajectory helpers. Apply across all examples to reduce boilerplate data extraction and directory setup.
- Skip convergence check after failed forward pass (prevents false convergence when dJ/dL are zero, which triggered LogDDP's abs check) - Log unconditionally when ALL parallel forward pass threads fail - Add checkEarlyConvergence hook so CLDDP checks inf_du before forward pass - Record iteration history on early convergence path - Fix BoxConstraint::computeViolation double-subtraction of ip_upper_bound_ - Add scale_factor_ to BoxConstraint<Control> control Jacobian for consistency - Unify CDDPSolution::History and IterationHistory into single type - Clean up solve() loop: remove continue, single printIteration call site
Both examples accessed solution.history.objective.back() but history is only populated when return_iteration_info is enabled (default false). Use solution.final_objective instead. Also fix ms-vs-microseconds label.
The template method hardcoded backward pass regularization exhaustion to NotConverged. LogDDP originally treated this as Converged since the barrier-penalized trajectory is typically still usable. Add virtual handleBackwardPassRegularizationLimit hook with LogDDP override.
- Re-add throwing Hessian overrides for PoleConstraint and SecondOrderConeConstraint (nonlinear — zero Hessians are wrong) - Keep zero-return default in base Constraint (correct for linear) - Remove stale #include <any> from cddp_core.hpp - Remove .claude/setting.json from tracked files
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Summary
This PR refactors the shared CDDP solver internals to reduce duplication across the CLDDP, LogDDP, IPDDP, and MSIPDDP implementations. It also replaces the string-keyed
CDDPSolutionmap with a typed solution struct and updates examples and tests to consume the typed API directly.Changes
CDDPSolverBaseand move the common solve loop, line search handling, derivative precomputation, iteration-history recording, and solution assembly into a shared base implementation.CDDPSolutionmap-of-std::anyresult shape with a typed struct and migrate the in-tree examples and tests to field-based access.cddp_example_utils.hppand reuse it across many examples for initial trajectory setup, directory creation, time vectors, and component extraction.cddp_lti_systemandcddp_hcw, plus the supporting CMake update to compile the new solver-base source.Test Plan
./build/tests/test_logddp_solver./build/tests/test_ipddp_solver./build/tests/test_msipddp_solverHow to Test
./build/tests/test_logddp_solver../build/tests/test_ipddp_solver../build/tests/test_msipddp_solver../build/examples/cddp_lti_systemand./build/examples/cddp_hcwto sanity-check the typed solution access in the updated examples.