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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// University of Oxford, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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namespace crocoddyl { |
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template <typename Scalar> |
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ActionModelAbstractTpl<Scalar>::ActionModelAbstractTpl( |
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std::shared_ptr<StateAbstractTpl<Scalar> > state, const std::size_t nu, |
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const std::size_t nr, const std::size_t ng, const std::size_t nh, |
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const std::size_t ng_T, const std::size_t nh_T) |
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: nu_(nu), |
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nr_(nr), |
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ng_(ng), |
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nh_(nh), |
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ng_T_(ng_T), |
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nh_T_(nh_T), |
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state_(state), |
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unone_(MathBase::VectorXs::Zero(nu)), |
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g_lb_(VectorXs::Constant(ng > ng_T ? ng : ng_T, |
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-std::numeric_limits<Scalar>::infinity())), |
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g_ub_(VectorXs::Constant(ng > ng_T ? ng : ng_T, |
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std::numeric_limits<Scalar>::infinity())), |
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u_lb_(MathBase::VectorXs::Constant( |
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nu, -std::numeric_limits<Scalar>::infinity())), |
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u_ub_(MathBase::VectorXs::Constant( |
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nu, std::numeric_limits<Scalar>::infinity())), |
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has_control_limits_(false) {} |
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template <typename Scalar> |
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ActionModelAbstractTpl<Scalar>::ActionModelAbstractTpl( |
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const ActionModelAbstractTpl<Scalar>& other) |
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: nu_(other.nu_), |
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nr_(other.nr_), |
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ng_(other.ng_), |
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nh_(other.nh_), |
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ng_T_(other.ng_T_), |
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nh_T_(other.nh_T_), |
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state_(other.state_), |
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g_lb_(other.g_lb_), |
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g_ub_(other.g_ub_), |
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u_lb_(other.u_lb_), |
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u_ub_(other.u_ub_), |
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has_control_limits_(other.has_control_limits_) {} |
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template <typename Scalar> |
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void ActionModelAbstractTpl<Scalar>::calc( |
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const std::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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calc(data, x, unone_); |
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} |
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template <typename Scalar> |
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void ActionModelAbstractTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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calcDiff(data, x, unone_); |
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} |
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template <typename Scalar> |
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void ActionModelAbstractTpl<Scalar>::quasiStatic( |
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const std::shared_ptr<ActionDataAbstract>& data, Eigen::Ref<VectorXs> u, |
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const Eigen::Ref<const VectorXs>& x, const std::size_t maxiter, |
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const Scalar tol) { |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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// Check the velocity input is zero |
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assert_pretty(x.tail(state_->get_nv()).isZero(), |
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"The velocity input should be zero for quasi-static to work."); |
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const std::size_t ndx = state_->get_ndx(); |
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VectorXs dx = VectorXs::Zero(ndx); |
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if (nu_ != 0) { |
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VectorXs du = VectorXs::Zero(nu_); |
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for (std::size_t i = 0; i < maxiter; ++i) { |
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calc(data, x, u); |
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calcDiff(data, x, u); |
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state_->diff(x, data->xnext, dx); |
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du.noalias() = -pseudoInverse(data->Fu) * dx; |
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u += du; |
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if (du.norm() <= tol) { |
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break; |
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} |
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} |
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} |
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} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::VectorXs |
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ActionModelAbstractTpl<Scalar>::quasiStatic_x( |
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const std::shared_ptr<ActionDataAbstract>& data, const VectorXs& x, |
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const std::size_t maxiter, const Scalar tol) { |
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VectorXs u(nu_); |
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u.setZero(); |
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quasiStatic(data, u, x, maxiter, tol); |
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return u; |
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} |
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template <typename Scalar> |
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std::shared_ptr<ActionDataAbstractTpl<Scalar> > |
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ActionModelAbstractTpl<Scalar>::createData() { |
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return std::allocate_shared<ActionDataAbstract>( |
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Eigen::aligned_allocator<ActionDataAbstract>(), this); |
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} |
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template <typename Scalar> |
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bool ActionModelAbstractTpl<Scalar>::checkData( |
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const std::shared_ptr<ActionDataAbstract>&) { |
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return false; |
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} |
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template <typename Scalar> |
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void ActionModelAbstractTpl<Scalar>::print(std::ostream& os) const { |
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os << boost::core::demangle(typeid(*this).name()); |
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} |
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template <typename Scalar> |
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std::size_t ActionModelAbstractTpl<Scalar>::get_nu() const { |
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return nu_; |
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} |
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template <typename Scalar> |
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std::size_t ActionModelAbstractTpl<Scalar>::get_nr() const { |
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return nr_; |
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} |
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template <typename Scalar> |
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std::size_t ActionModelAbstractTpl<Scalar>::get_ng() const { |
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return ng_; |
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} |
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template <typename Scalar> |
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std::size_t ActionModelAbstractTpl<Scalar>::get_nh() const { |
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return nh_; |
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} |
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template <typename Scalar> |
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std::size_t ActionModelAbstractTpl<Scalar>::get_ng_T() const { |
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return ng_T_; |
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} |
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template <typename Scalar> |
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std::size_t ActionModelAbstractTpl<Scalar>::get_nh_T() const { |
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return nh_T_; |
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} |
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template <typename Scalar> |
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const std::shared_ptr<StateAbstractTpl<Scalar> >& |
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ActionModelAbstractTpl<Scalar>::get_state() const { |
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return state_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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ActionModelAbstractTpl<Scalar>::get_g_lb() const { |
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return g_lb_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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ActionModelAbstractTpl<Scalar>::get_g_ub() const { |
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return g_ub_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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ActionModelAbstractTpl<Scalar>::get_u_lb() const { |
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return u_lb_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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ActionModelAbstractTpl<Scalar>::get_u_ub() const { |
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return u_ub_; |
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} |
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template <typename Scalar> |
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bool ActionModelAbstractTpl<Scalar>::get_has_control_limits() const { |
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return has_control_limits_; |
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} |
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template <typename Scalar> |
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void ActionModelAbstractTpl<Scalar>::set_g_lb(const VectorXs& g_lb) { |
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const std::size_t ng = ng_ > ng_T_ ? ng_ : ng_T_; |
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if (static_cast<std::size_t>(g_lb.size()) != ng) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "inequality lower bound has wrong dimension (it should be " + |
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std::to_string(ng) + ")"); |
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} |
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g_lb_ = g_lb; |
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} |
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template <typename Scalar> |
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void ActionModelAbstractTpl<Scalar>::set_g_ub(const VectorXs& g_ub) { |
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const std::size_t ng = ng_ > ng_T_ ? ng_ : ng_T_; |
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if (static_cast<std::size_t>(g_ub.size()) != ng) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "inequality upper bound has wrong dimension (it should be " + |
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std::to_string(ng_) + ")"); |
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} |
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g_ub_ = g_ub; |
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} |
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template <typename Scalar> |
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void ActionModelAbstractTpl<Scalar>::set_u_lb(const VectorXs& u_lb) { |
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if (static_cast<std::size_t>(u_lb.size()) != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "control lower bound has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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u_lb_ = u_lb; |
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update_has_control_limits(); |
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} |
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template <typename Scalar> |
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void ActionModelAbstractTpl<Scalar>::set_u_ub(const VectorXs& u_ub) { |
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if (static_cast<std::size_t>(u_ub.size()) != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "control upper bound has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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u_ub_ = u_ub; |
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update_has_control_limits(); |
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} |
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template <typename Scalar> |
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void ActionModelAbstractTpl<Scalar>::update_has_control_limits() { |
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has_control_limits_ = |
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isfinite(u_lb_.template cast<ScalarType>().array()).any() && |
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isfinite(u_ub_.template cast<ScalarType>().array()).any(); |
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} |
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template <typename Scalar> |
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std::ostream& operator<<(std::ostream& os, |
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const ActionModelAbstractTpl<Scalar>& model) { |
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model.print(os); |
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return os; |
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} |
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} // namespace crocoddyl |
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