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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh, |
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// University of Trento, 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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ControlParametrizationModelAbstractTpl< |
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Scalar>::ControlParametrizationModelAbstractTpl(const std::size_t nw, |
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const std::size_t nu) |
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: nw_(nw), nu_(nu) {} |
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template <typename Scalar> |
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std::shared_ptr<ControlParametrizationDataAbstractTpl<Scalar> > |
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ControlParametrizationModelAbstractTpl<Scalar>::createData() { |
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return std::allocate_shared<ControlParametrizationDataAbstract>( |
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Eigen::aligned_allocator<ControlParametrizationDataAbstract>(), this); |
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} |
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template <typename Scalar> |
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bool ControlParametrizationModelAbstractTpl<Scalar>::checkData( |
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const std::shared_ptr<ControlParametrizationDataAbstract>&) { |
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return false; |
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} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::MatrixXs |
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ControlParametrizationModelAbstractTpl<Scalar>::multiplyByJacobian_J( |
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const std::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Eigen::Ref<const MatrixXs>& A, const AssignmentOp op) const { |
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MatrixXs AJ(A.rows(), nu_); |
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multiplyByJacobian(data, A, AJ, op); |
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return AJ; |
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} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::MatrixXs |
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ControlParametrizationModelAbstractTpl<Scalar>::multiplyJacobianTransposeBy_J( |
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const std::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Eigen::Ref<const MatrixXs>& A, const AssignmentOp op) const { |
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MatrixXs JTA(nu_, A.cols()); |
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multiplyJacobianTransposeBy(data, A, JTA, op); |
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return JTA; |
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} |
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template <typename Scalar> |
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std::ostream& operator<<( |
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std::ostream& os, |
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const ControlParametrizationModelAbstractTpl<Scalar>& model) { |
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model.print(os); |
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return os; |
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} |
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template <typename Scalar> |
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void ControlParametrizationModelAbstractTpl<Scalar>::print( |
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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 ControlParametrizationModelAbstractTpl<Scalar>::get_nw() const { |
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return nw_; |
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} |
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template <typename Scalar> |
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std::size_t ControlParametrizationModelAbstractTpl<Scalar>::get_nu() const { |
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return nu_; |
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} |
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} // namespace crocoddyl |
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