| Directory: | ./ |
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| File: | include/crocoddyl/core/control-base.hpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021, University of Edinburgh, University of Trento | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_CORE_CONTROL_BASE_HPP_ | ||
| 10 | #define CROCODDYL_CORE_CONTROL_BASE_HPP_ | ||
| 11 | |||
| 12 | #include <boost/shared_ptr.hpp> | ||
| 13 | |||
| 14 | #include "crocoddyl/core/fwd.hpp" | ||
| 15 | #include "crocoddyl/core/mathbase.hpp" | ||
| 16 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | /** | ||
| 21 | * @brief Abstract class for the control trajectory parametrization | ||
| 22 | * | ||
| 23 | * The control trajectory is a function of the (normalized) time. | ||
| 24 | * Normalized time is between 0 and 1, where 0 represents the beginning of the | ||
| 25 | * time step, and 1 represents its end. The trajectory depends on the control | ||
| 26 | * parameters u, whose size may be larger than the size of the control inputs w. | ||
| 27 | * | ||
| 28 | * The main computations are carried out in `calc`, `multiplyByJacobian` and | ||
| 29 | * `multiplyJacobianTransposeBy`, where the former computes control input | ||
| 30 | * \f$\mathbf{w}\in\mathbb{R}^{nw}\f$ from a set of control parameters | ||
| 31 | * \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ where `nw` and `nu` represent the | ||
| 32 | * dimension of the control inputs and parameters, respectively, and the latter | ||
| 33 | * defines useful operations across the Jacobian of the control-parametrization | ||
| 34 | * model. Finally, `params` allows us to obtain the control parameters from a | ||
| 35 | * the control input, i.e., it is the dual of `calc`. Note that | ||
| 36 | * `multiplyByJacobian` and `multiplyJacobianTransposeBy` requires to run `calc` | ||
| 37 | * first. | ||
| 38 | * | ||
| 39 | * \sa `calc()`, `calcDiff()`, `createData()`, `params`, `multiplyByJacobian`, | ||
| 40 | * `multiplyJacobianTransposeBy` | ||
| 41 | */ | ||
| 42 | template <typename _Scalar> | ||
| 43 | class ControlParametrizationModelAbstractTpl { | ||
| 44 | public: | ||
| 45 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 46 | |||
| 47 | typedef _Scalar Scalar; | ||
| 48 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 49 | typedef ControlParametrizationDataAbstractTpl<Scalar> | ||
| 50 | ControlParametrizationDataAbstract; | ||
| 51 | typedef typename MathBase::VectorXs VectorXs; | ||
| 52 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 53 | |||
| 54 | /** | ||
| 55 | * @brief Initialize the control dimensions | ||
| 56 | * | ||
| 57 | * @param[in] nw Dimension of control inputs | ||
| 58 | * @param[in] nu Dimension of control parameters | ||
| 59 | */ | ||
| 60 | ControlParametrizationModelAbstractTpl(const std::size_t nw, | ||
| 61 | const std::size_t nu); | ||
| 62 | virtual ~ControlParametrizationModelAbstractTpl(); | ||
| 63 | |||
| 64 | /** | ||
| 65 | * @brief Get the value of the control at the specified time | ||
| 66 | * | ||
| 67 | * @param[in] data Data structure containing the control vector to write | ||
| 68 | * @param[in] t Time in [0,1] | ||
| 69 | * @param[in] u Control parameters | ||
| 70 | */ | ||
| 71 | virtual void calc( | ||
| 72 | const boost::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 73 | const Scalar t, const Eigen::Ref<const VectorXs>& u) const = 0; | ||
| 74 | |||
| 75 | /** | ||
| 76 | * @brief Get the value of the Jacobian of the control with respect to the | ||
| 77 | * parameters | ||
| 78 | * | ||
| 79 | * It assumes that `calc()` has been run first | ||
| 80 | * | ||
| 81 | * @param[in] data Control-parametrization data | ||
| 82 | * @param[in] t Time in [0,1] | ||
| 83 | * @param[in] u Control parameters | ||
| 84 | */ | ||
| 85 | virtual void calcDiff( | ||
| 86 | const boost::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 87 | const Scalar t, const Eigen::Ref<const VectorXs>& u) const = 0; | ||
| 88 | |||
| 89 | /** | ||
| 90 | * @brief Create the control-parametrization data | ||
| 91 | * | ||
| 92 | * @return the control-parametrization data | ||
| 93 | */ | ||
| 94 | virtual boost::shared_ptr<ControlParametrizationDataAbstract> createData(); | ||
| 95 | |||
| 96 | /** | ||
| 97 | * @brief Update the control parameters u for a specified time t given the | ||
| 98 | * control input w | ||
| 99 | * | ||
| 100 | * @param[in] data Control-parametrization data | ||
| 101 | * @param[in] t Time in [0,1] | ||
| 102 | * @param[in] w Control inputs | ||
| 103 | */ | ||
| 104 | virtual void params( | ||
| 105 | const boost::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 106 | const Scalar t, const Eigen::Ref<const VectorXs>& w) const = 0; | ||
| 107 | |||
| 108 | /** | ||
| 109 | * @brief Convert the bounds on the control inputs w to bounds on the control | ||
| 110 | * parameters u | ||
| 111 | * | ||
| 112 | * @param[in] w_lb Control lower bound | ||
| 113 | * @param[in] w_ub Control lower bound | ||
| 114 | * @param[out] u_lb Control parameters lower bound | ||
| 115 | * @param[out] u_ub Control parameters upper bound | ||
| 116 | */ | ||
| 117 | virtual void convertBounds(const Eigen::Ref<const VectorXs>& w_lb, | ||
| 118 | const Eigen::Ref<const VectorXs>& w_ub, | ||
| 119 | Eigen::Ref<VectorXs> u_lb, | ||
| 120 | Eigen::Ref<VectorXs> u_ub) const = 0; | ||
| 121 | |||
| 122 | /** | ||
| 123 | * @brief Compute the product between the given matrix A and the derivative of | ||
| 124 | * the control input with respect to the control parameters (i.e., A*dw_du). | ||
| 125 | * | ||
| 126 | * It assumes that `calc()` has been run first | ||
| 127 | * | ||
| 128 | * @param[in] data Control-parametrization data | ||
| 129 | * @param[in] A A matrix to multiply times the Jacobian | ||
| 130 | * @param[out] out Product between the matrix A and the Jacobian of the | ||
| 131 | * control with respect to the parameters | ||
| 132 | * @param[in] op Assignment operator which sets, adds, or removes the | ||
| 133 | * given results | ||
| 134 | */ | ||
| 135 | virtual void multiplyByJacobian( | ||
| 136 | const boost::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 137 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 138 | const AssignmentOp = setto) const = 0; | ||
| 139 | |||
| 140 | virtual MatrixXs multiplyByJacobian_J( | ||
| 141 | const boost::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 142 | const Eigen::Ref<const MatrixXs>& A, const AssignmentOp = setto) const; | ||
| 143 | |||
| 144 | /** | ||
| 145 | * @brief Compute the product between the transpose of the derivative of the | ||
| 146 | * control input with respect to the control parameters and a given matrix A | ||
| 147 | * (i.e., dw_du^T*A) | ||
| 148 | * | ||
| 149 | * It assumes that `calc()` has been run first | ||
| 150 | * | ||
| 151 | * @param[in] data Control-parametrization data | ||
| 152 | * @param[in] A A matrix to multiply times the Jacobian | ||
| 153 | * @param[out] out Product between the transposed Jacobian of the control | ||
| 154 | * with respect to the parameters and the matrix A | ||
| 155 | * @param[in] op Assignment operator which sets, adds, or removes the | ||
| 156 | * given results | ||
| 157 | */ | ||
| 158 | virtual void multiplyJacobianTransposeBy( | ||
| 159 | const boost::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 160 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 161 | const AssignmentOp = setto) const = 0; | ||
| 162 | |||
| 163 | virtual MatrixXs multiplyJacobianTransposeBy_J( | ||
| 164 | const boost::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 165 | const Eigen::Ref<const MatrixXs>& A, const AssignmentOp = setto) const; | ||
| 166 | |||
| 167 | /** | ||
| 168 | * @brief Checks that a specific data belongs to this model | ||
| 169 | */ | ||
| 170 | virtual bool checkData( | ||
| 171 | const boost::shared_ptr<ControlParametrizationDataAbstract>& data); | ||
| 172 | |||
| 173 | /** | ||
| 174 | * @brief Return the dimension of the control inputs | ||
| 175 | */ | ||
| 176 | std::size_t get_nw() const; | ||
| 177 | |||
| 178 | /** | ||
| 179 | * @brief Return the dimension of control parameters | ||
| 180 | */ | ||
| 181 | std::size_t get_nu() const; | ||
| 182 | |||
| 183 | protected: | ||
| 184 | std::size_t nw_; //!< Control dimension | ||
| 185 | std::size_t nu_; //!< Control parameters dimension | ||
| 186 | }; | ||
| 187 | |||
| 188 | template <typename _Scalar> | ||
| 189 | struct ControlParametrizationDataAbstractTpl { | ||
| 190 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 191 | |||
| 192 | typedef _Scalar Scalar; | ||
| 193 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 194 | typedef typename MathBase::VectorXs VectorXs; | ||
| 195 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 196 | |||
| 197 | template <template <typename Scalar> class Model> | ||
| 198 | 210632 | explicit ControlParametrizationDataAbstractTpl(Model<Scalar>* const model) | |
| 199 |
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210632 | : w(model->get_nw()), |
| 200 |
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210632 | u(model->get_nu()), |
| 201 |
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421264 | dw_du(model->get_nw(), model->get_nu()) { |
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210632 | w.setZero(); |
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210632 | u.setZero(); |
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210632 | dw_du.setZero(); |
| 205 | } | ||
| 206 | 106186 | virtual ~ControlParametrizationDataAbstractTpl() {} | |
| 207 | |||
| 208 | VectorXs w; //!< value of the differential control | ||
| 209 | VectorXs u; //!< value of the control parameters | ||
| 210 | MatrixXs dw_du; //!< Jacobian of the differential control with respect to the | ||
| 211 | //!< parameters | ||
| 212 | }; | ||
| 213 | |||
| 214 | } // namespace crocoddyl | ||
| 215 | |||
| 216 | /* --- Details -------------------------------------------------------------- */ | ||
| 217 | /* --- Details -------------------------------------------------------------- */ | ||
| 218 | /* --- Details -------------------------------------------------------------- */ | ||
| 219 | #include "crocoddyl/core/control-base.hxx" | ||
| 220 | |||
| 221 | #endif // CROCODDYL_CORE_CONTROL_BASE_HPP_ | ||
| 222 |