| Directory: | ./ |
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| File: | include/crocoddyl/core/numdiff/actuation.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 15 | 16 | 93.8% |
| Branches: | 23 | 42 | 54.8% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, University of Edinburgh, LAAS-CNRS | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_ | ||
| 11 | #define CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_ | ||
| 12 | |||
| 13 | #include <iostream> | ||
| 14 | #include <vector> | ||
| 15 | |||
| 16 | #include "crocoddyl/core/actuation-base.hpp" | ||
| 17 | #include "crocoddyl/core/fwd.hpp" | ||
| 18 | |||
| 19 | namespace crocoddyl { | ||
| 20 | |||
| 21 | /** | ||
| 22 | * @brief This class computes the numerical differentiation of an actuation | ||
| 23 | * model. | ||
| 24 | * | ||
| 25 | * It computes the Jacobian of the residual model via numerical differentiation, | ||
| 26 | * i.e., \f$\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{x}}\f$ and | ||
| 27 | * \f$\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{u}}\f$ which denote the | ||
| 28 | * Jacobians of the actuation function | ||
| 29 | * \f$\boldsymbol{\tau}(\mathbf{x},\mathbf{u})\f$. | ||
| 30 | * | ||
| 31 | * \sa `ActuationModelAbstractTpl()`, `calcDiff()` | ||
| 32 | */ | ||
| 33 | template <typename _Scalar> | ||
| 34 | class ActuationModelNumDiffTpl : public ActuationModelAbstractTpl<_Scalar> { | ||
| 35 | public: | ||
| 36 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 37 | ✗ | CROCODDYL_DERIVED_CAST(ActuationModelBase, ActuationModelNumDiffTpl) | |
| 38 | |||
| 39 | typedef _Scalar Scalar; | ||
| 40 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 41 | typedef ActuationModelAbstractTpl<Scalar> Base; | ||
| 42 | typedef ActuationDataNumDiffTpl<Scalar> Data; | ||
| 43 | typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract; | ||
| 44 | typedef typename MathBase::VectorXs VectorXs; | ||
| 45 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 46 | |||
| 47 | /** | ||
| 48 | * @brief Initialize the numdiff residual model | ||
| 49 | * | ||
| 50 | * @param model Actuation model that we want to apply the numerical | ||
| 51 | * differentiation | ||
| 52 | */ | ||
| 53 | explicit ActuationModelNumDiffTpl(std::shared_ptr<Base> model); | ||
| 54 | |||
| 55 | /** | ||
| 56 | * @brief Destroy the numdiff actuation model | ||
| 57 | */ | ||
| 58 | 144 | virtual ~ActuationModelNumDiffTpl() = default; | |
| 59 | |||
| 60 | /** | ||
| 61 | * @brief @copydoc Base::calc() | ||
| 62 | */ | ||
| 63 | virtual void calc(const std::shared_ptr<ActuationDataAbstract>& data, | ||
| 64 | const Eigen::Ref<const VectorXs>& x, | ||
| 65 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 66 | |||
| 67 | /** | ||
| 68 | * @brief @copydoc Base::calc(const std::shared_ptr<ActuationDataAbstract>& | ||
| 69 | * data, const Eigen::Ref<const VectorXs>& x) | ||
| 70 | */ | ||
| 71 | virtual void calc(const std::shared_ptr<ActuationDataAbstract>& data, | ||
| 72 | const Eigen::Ref<const VectorXs>& x); | ||
| 73 | |||
| 74 | /** | ||
| 75 | * @brief @copydoc Base::calcDiff() | ||
| 76 | */ | ||
| 77 | virtual void calcDiff(const std::shared_ptr<ActuationDataAbstract>& data, | ||
| 78 | const Eigen::Ref<const VectorXs>& x, | ||
| 79 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 80 | |||
| 81 | /** | ||
| 82 | * @brief @copydoc Base::calcDiff(const | ||
| 83 | * std::shared_ptr<ActuationDataAbstract>& data, const Eigen::Ref<const | ||
| 84 | * VectorXs>& x) | ||
| 85 | */ | ||
| 86 | virtual void calcDiff(const std::shared_ptr<ActuationDataAbstract>& data, | ||
| 87 | const Eigen::Ref<const VectorXs>& x); | ||
| 88 | |||
| 89 | /** | ||
| 90 | * @brief @copydoc Base::commands() | ||
| 91 | */ | ||
| 92 | virtual void commands(const std::shared_ptr<ActuationDataAbstract>& data, | ||
| 93 | const Eigen::Ref<const VectorXs>& x, | ||
| 94 | const Eigen::Ref<const VectorXs>& tau) override; | ||
| 95 | |||
| 96 | /** | ||
| 97 | * @brief @copydoc Base::torqueTransform() | ||
| 98 | */ | ||
| 99 | virtual void torqueTransform( | ||
| 100 | const std::shared_ptr<ActuationDataAbstract>& data, | ||
| 101 | const Eigen::Ref<const VectorXs>& x, | ||
| 102 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 103 | |||
| 104 | /** | ||
| 105 | * @brief @copydoc Base::createData() | ||
| 106 | */ | ||
| 107 | virtual std::shared_ptr<ActuationDataAbstract> createData() override; | ||
| 108 | |||
| 109 | template <typename NewScalar> | ||
| 110 | ActuationModelNumDiffTpl<NewScalar> cast() const; | ||
| 111 | |||
| 112 | /** | ||
| 113 | * @brief Return the original actuation model | ||
| 114 | */ | ||
| 115 | const std::shared_ptr<Base>& get_model() const; | ||
| 116 | |||
| 117 | /** | ||
| 118 | * @brief Return the disturbance constant used by the numerical | ||
| 119 | * differentiation routine | ||
| 120 | */ | ||
| 121 | const Scalar get_disturbance() const; | ||
| 122 | |||
| 123 | /** | ||
| 124 | * @brief Modify the disturbance constant used by the numerical | ||
| 125 | * differentiation routine | ||
| 126 | */ | ||
| 127 | void set_disturbance(const Scalar disturbance); | ||
| 128 | |||
| 129 | private: | ||
| 130 | std::shared_ptr<Base> model_; //!< Actuation model hat we want to apply the | ||
| 131 | //!< numerical differentiation | ||
| 132 | Scalar e_jac_; //!< Constant used for computing disturbances in Jacobian | ||
| 133 | //!< calculation | ||
| 134 | |||
| 135 | protected: | ||
| 136 | using Base::nu_; | ||
| 137 | }; | ||
| 138 | |||
| 139 | template <typename _Scalar> | ||
| 140 | struct ActuationDataNumDiffTpl : public ActuationDataAbstractTpl<_Scalar> { | ||
| 141 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 142 | |||
| 143 | typedef _Scalar Scalar; | ||
| 144 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 145 | typedef typename MathBase::VectorXs VectorXs; | ||
| 146 | typedef ActuationDataAbstractTpl<Scalar> Base; | ||
| 147 | |||
| 148 | /** | ||
| 149 | * @brief Initialize the numdiff actuation data | ||
| 150 | * | ||
| 151 | * @tparam Model is the type of the `ActuationModelAbstractTpl`. | ||
| 152 | * @param model is the object to compute the numerical differentiation from. | ||
| 153 | */ | ||
| 154 | template <template <typename Scalar> class Model> | ||
| 155 | 144 | explicit ActuationDataNumDiffTpl(Model<Scalar>* const model) | |
| 156 | : Base(model), | ||
| 157 |
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144 | dx(model->get_model()->get_state()->get_ndx()), |
| 158 |
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144 | du(model->get_model()->get_nu()), |
| 159 |
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288 | xp(model->get_model()->get_state()->get_nx()) { |
| 160 |
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144 | dx.setZero(); |
| 161 |
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144 | du.setZero(); |
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144 | xp.setZero(); |
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144 | const std::size_t ndx = model->get_model()->get_state()->get_ndx(); |
| 164 |
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144 | const std::size_t nu = model->get_model()->get_nu(); |
| 165 |
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144 | data_0 = model->get_model()->createData(); |
| 166 |
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5872 | for (std::size_t i = 0; i < ndx; ++i) { |
| 167 |
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5728 | data_x.push_back(model->get_model()->createData()); |
| 168 | } | ||
| 169 |
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2832 | for (std::size_t i = 0; i < nu; ++i) { |
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2688 | data_u.push_back(model->get_model()->createData()); |
| 171 | } | ||
| 172 | } | ||
| 173 | |||
| 174 | Scalar x_norm; //!< Norm of the state vector | ||
| 175 | Scalar | ||
| 176 | xh_jac; //!< Disturbance value used for computing \f$ \ell_\mathbf{x} \f$ | ||
| 177 | Scalar | ||
| 178 | uh_jac; //!< Disturbance value used for computing \f$ \ell_\mathbf{u} \f$ | ||
| 179 | VectorXs dx; //!< State disturbance | ||
| 180 | VectorXs du; //!< Control disturbance | ||
| 181 | VectorXs xp; //!< The integrated state from the disturbance on one DoF "\f$ | ||
| 182 | //!< \int x dx_i \f$" | ||
| 183 | std::shared_ptr<Base> data_0; //!< The data that contains the final results | ||
| 184 | std::vector<std::shared_ptr<Base> > | ||
| 185 | data_x; //!< The temporary data associated with the state variation | ||
| 186 | std::vector<std::shared_ptr<Base> > | ||
| 187 | data_u; //!< The temporary data associated with the control variation | ||
| 188 | |||
| 189 | using Base::dtau_du; | ||
| 190 | using Base::dtau_dx; | ||
| 191 | using Base::tau; | ||
| 192 | }; | ||
| 193 | |||
| 194 | } // namespace crocoddyl | ||
| 195 | |||
| 196 | /* --- Details -------------------------------------------------------------- */ | ||
| 197 | /* --- Details -------------------------------------------------------------- */ | ||
| 198 | /* --- Details -------------------------------------------------------------- */ | ||
| 199 | #include "crocoddyl/core/numdiff/actuation.hxx" | ||
| 200 | |||
| 201 | #endif // CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_ | ||
| 202 |