| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // University of Trento, Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | namespace crocoddyl { | ||
| 11 | |||
| 12 | template <typename Scalar> | ||
| 13 | ✗ | ControlParametrizationModelAbstractTpl< | |
| 14 | Scalar>::ControlParametrizationModelAbstractTpl(const std::size_t nw, | ||
| 15 | const std::size_t nu) | ||
| 16 | ✗ | : nw_(nw), nu_(nu) {} | |
| 17 | |||
| 18 | template <typename Scalar> | ||
| 19 | std::shared_ptr<ControlParametrizationDataAbstractTpl<Scalar> > | ||
| 20 | ✗ | ControlParametrizationModelAbstractTpl<Scalar>::createData() { | |
| 21 | return std::allocate_shared<ControlParametrizationDataAbstract>( | ||
| 22 | ✗ | Eigen::aligned_allocator<ControlParametrizationDataAbstract>(), this); | |
| 23 | } | ||
| 24 | |||
| 25 | template <typename Scalar> | ||
| 26 | ✗ | bool ControlParametrizationModelAbstractTpl<Scalar>::checkData( | |
| 27 | const std::shared_ptr<ControlParametrizationDataAbstract>&) { | ||
| 28 | ✗ | return false; | |
| 29 | } | ||
| 30 | |||
| 31 | template <typename Scalar> | ||
| 32 | typename MathBaseTpl<Scalar>::MatrixXs | ||
| 33 | ✗ | ControlParametrizationModelAbstractTpl<Scalar>::multiplyByJacobian_J( | |
| 34 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 35 | const Eigen::Ref<const MatrixXs>& A, const AssignmentOp op) const { | ||
| 36 | ✗ | MatrixXs AJ(A.rows(), nu_); | |
| 37 | ✗ | multiplyByJacobian(data, A, AJ, op); | |
| 38 | ✗ | return AJ; | |
| 39 | ✗ | } | |
| 40 | |||
| 41 | template <typename Scalar> | ||
| 42 | typename MathBaseTpl<Scalar>::MatrixXs | ||
| 43 | ✗ | ControlParametrizationModelAbstractTpl<Scalar>::multiplyJacobianTransposeBy_J( | |
| 44 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 45 | const Eigen::Ref<const MatrixXs>& A, const AssignmentOp op) const { | ||
| 46 | ✗ | MatrixXs JTA(nu_, A.cols()); | |
| 47 | ✗ | multiplyJacobianTransposeBy(data, A, JTA, op); | |
| 48 | ✗ | return JTA; | |
| 49 | ✗ | } | |
| 50 | |||
| 51 | template <typename Scalar> | ||
| 52 | ✗ | std::ostream& operator<<( | |
| 53 | std::ostream& os, | ||
| 54 | const ControlParametrizationModelAbstractTpl<Scalar>& model) { | ||
| 55 | ✗ | model.print(os); | |
| 56 | ✗ | return os; | |
| 57 | } | ||
| 58 | |||
| 59 | template <typename Scalar> | ||
| 60 | ✗ | void ControlParametrizationModelAbstractTpl<Scalar>::print( | |
| 61 | std::ostream& os) const { | ||
| 62 | ✗ | os << boost::core::demangle(typeid(*this).name()); | |
| 63 | ✗ | } | |
| 64 | |||
| 65 | template <typename Scalar> | ||
| 66 | ✗ | std::size_t ControlParametrizationModelAbstractTpl<Scalar>::get_nw() const { | |
| 67 | ✗ | return nw_; | |
| 68 | } | ||
| 69 | |||
| 70 | template <typename Scalar> | ||
| 71 | ✗ | std::size_t ControlParametrizationModelAbstractTpl<Scalar>::get_nu() const { | |
| 72 | ✗ | return nu_; | |
| 73 | } | ||
| 74 | |||
| 75 | } // namespace crocoddyl | ||
| 76 |