| Directory: | ./ |
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| File: | include/crocoddyl/core/numdiff/control.hpp |
| Date: | 2025-02-24 23:41:29 |
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| Lines: | 9 | 9 | 100.0% |
| Branches: | 7 | 12 | 58.3% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2023, LAAS-CNRS, New York University, Max Planck | ||
| 5 | // Gesellschaft, | ||
| 6 | // University of Edinburgh, University of Trento, | ||
| 7 | // Heriot-Watt University | ||
| 8 | // Copyright note valid unless otherwise stated in individual files. | ||
| 9 | // All rights reserved. | ||
| 10 | /////////////////////////////////////////////////////////////////////////////// | ||
| 11 | |||
| 12 | #ifndef CROCODDYL_CORE_NUMDIFF_CONTROL_HPP_ | ||
| 13 | #define CROCODDYL_CORE_NUMDIFF_CONTROL_HPP_ | ||
| 14 | |||
| 15 | #include <boost/make_shared.hpp> | ||
| 16 | #include <memory> | ||
| 17 | #include <vector> | ||
| 18 | |||
| 19 | #include "crocoddyl/core/control-base.hpp" | ||
| 20 | #include "crocoddyl/core/fwd.hpp" | ||
| 21 | |||
| 22 | namespace crocoddyl { | ||
| 23 | |||
| 24 | template <typename _Scalar> | ||
| 25 | class ControlParametrizationModelNumDiffTpl | ||
| 26 | : public ControlParametrizationModelAbstractTpl<_Scalar> { | ||
| 27 | public: | ||
| 28 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 29 | |||
| 30 | typedef _Scalar Scalar; | ||
| 31 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 32 | typedef ControlParametrizationModelAbstractTpl<_Scalar> Base; | ||
| 33 | typedef ControlParametrizationDataNumDiffTpl<_Scalar> Data; | ||
| 34 | typedef ControlParametrizationDataAbstractTpl<_Scalar> | ||
| 35 | ControlParametrizationDataAbstract; | ||
| 36 | typedef typename MathBase::VectorXs VectorXs; | ||
| 37 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 38 | |||
| 39 | /** | ||
| 40 | * @brief Construct a new ControlParametrizationModelNumDiff object | ||
| 41 | * | ||
| 42 | * @param model | ||
| 43 | */ | ||
| 44 | explicit ControlParametrizationModelNumDiffTpl(std::shared_ptr<Base> model); | ||
| 45 | virtual ~ControlParametrizationModelNumDiffTpl(); | ||
| 46 | |||
| 47 | /** | ||
| 48 | * @brief Get the value of the control at the specified time | ||
| 49 | * | ||
| 50 | * @param[in] data Control-parametrization numdiff data | ||
| 51 | * @param[in] t Time in [0,1] | ||
| 52 | * @param[in] u Control parameters | ||
| 53 | */ | ||
| 54 | void calc(const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 55 | const Scalar t, const Eigen::Ref<const VectorXs>& u) const; | ||
| 56 | |||
| 57 | /** | ||
| 58 | * @brief Get the value of the Jacobian of the control with respect to the | ||
| 59 | * parameters | ||
| 60 | * | ||
| 61 | * @param[in] data Control-parametrization numdiff data | ||
| 62 | * @param[in] t Time in [0,1] | ||
| 63 | * @param[in] u Control parameters | ||
| 64 | */ | ||
| 65 | void calcDiff(const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 66 | const Scalar t, const Eigen::Ref<const VectorXs>& u) const; | ||
| 67 | |||
| 68 | /** | ||
| 69 | * @brief Create the control-parametrization data | ||
| 70 | * | ||
| 71 | * @return the control-parametrization data | ||
| 72 | */ | ||
| 73 | virtual std::shared_ptr<ControlParametrizationDataAbstract> createData(); | ||
| 74 | |||
| 75 | /** | ||
| 76 | * @brief Get a value of the control parameters such that the control at the | ||
| 77 | * specified time t is equal to the specified value u | ||
| 78 | * | ||
| 79 | * @param[in] data Control-parametrization numdiff data | ||
| 80 | * @param[in] t Time in [0,1] | ||
| 81 | * @param[in] w Control values | ||
| 82 | */ | ||
| 83 | void params(const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 84 | const Scalar t, const Eigen::Ref<const VectorXs>& w) const; | ||
| 85 | |||
| 86 | /** | ||
| 87 | * @brief Convert the bounds on the control to bounds on the control | ||
| 88 | * parameters | ||
| 89 | * | ||
| 90 | * @param[in] w_lb Control lower bound | ||
| 91 | * @param[in] w_ub Control upper bound | ||
| 92 | * @param[in] u_lb Control parameter lower bound | ||
| 93 | * @param[in] u_ub Control parameter upper bound | ||
| 94 | */ | ||
| 95 | void convertBounds(const Eigen::Ref<const VectorXs>& w_lb, | ||
| 96 | const Eigen::Ref<const VectorXs>& w_ub, | ||
| 97 | Eigen::Ref<VectorXs> u_lb, | ||
| 98 | Eigen::Ref<VectorXs> u_ub) const; | ||
| 99 | |||
| 100 | /** | ||
| 101 | * @brief Compute the product between a specified matrix and the Jacobian of | ||
| 102 | * the control (with respect to the parameters) | ||
| 103 | * | ||
| 104 | * @param[in] data Control-parametrization numdiff data | ||
| 105 | * @param[in] A A matrix to multiply times the Jacobian | ||
| 106 | * @param[out] out Product between the matrix A and the Jacobian of the | ||
| 107 | * control with respect to the parameters | ||
| 108 | * @param[in] op Assignment operator which sets, adds, or removes the | ||
| 109 | * given results | ||
| 110 | */ | ||
| 111 | void multiplyByJacobian( | ||
| 112 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 113 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 114 | const AssignmentOp = setto) const; | ||
| 115 | |||
| 116 | /** | ||
| 117 | * @brief Compute the product between the transposed Jacobian of the control | ||
| 118 | * (with respect to the parameters) and a specified matrix | ||
| 119 | * | ||
| 120 | * @param[in] data Control-parametrization numdiff data | ||
| 121 | * @param[in] A A matrix to multiply times the Jacobian | ||
| 122 | * @param[out] out Product between the transposed Jacobian of the control | ||
| 123 | * with respect to the parameters and the matrix A | ||
| 124 | * @param[in] op Assignment operator which sets, adds, or removes the | ||
| 125 | * given results | ||
| 126 | */ | ||
| 127 | void multiplyJacobianTransposeBy( | ||
| 128 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 129 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 130 | const AssignmentOp = setto) const; | ||
| 131 | |||
| 132 | /** | ||
| 133 | * @brief Get the model_ object | ||
| 134 | * | ||
| 135 | * @return Base& | ||
| 136 | */ | ||
| 137 | const std::shared_ptr<Base>& get_model() const; | ||
| 138 | |||
| 139 | /** | ||
| 140 | * @brief Return the disturbance constant used in the numerical | ||
| 141 | * differentiation routine | ||
| 142 | */ | ||
| 143 | const Scalar get_disturbance() const; | ||
| 144 | |||
| 145 | /** | ||
| 146 | * @brief Modify the disturbance constant used in the numerical | ||
| 147 | * differentiation routine | ||
| 148 | */ | ||
| 149 | void set_disturbance(const Scalar disturbance); | ||
| 150 | |||
| 151 | private: | ||
| 152 | std::shared_ptr<Base> | ||
| 153 | model_; //!< model we need to compute the numerical differentiation | ||
| 154 | Scalar e_jac_; //!< Constant used for computing disturbances in Jacobian | ||
| 155 | //!< calculation | ||
| 156 | |||
| 157 | protected: | ||
| 158 | using Base::nu_; | ||
| 159 | using Base::nw_; | ||
| 160 | }; | ||
| 161 | |||
| 162 | template <typename _Scalar> | ||
| 163 | struct ControlParametrizationDataNumDiffTpl | ||
| 164 | : public ControlParametrizationDataAbstractTpl<_Scalar> { | ||
| 165 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 166 | |||
| 167 | typedef _Scalar Scalar; | ||
| 168 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 169 | typedef typename MathBase::VectorXs VectorXs; | ||
| 170 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 171 | typedef ControlParametrizationDataAbstractTpl<Scalar> Base; | ||
| 172 | |||
| 173 | template <template <typename Scalar> class Model> | ||
| 174 | 12 | explicit ControlParametrizationDataNumDiffTpl(Model<Scalar>* const model) | |
| 175 |
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12 | : Base(model), du(model->get_nu()) { |
| 176 |
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12 | du.setZero(); |
| 177 | |||
| 178 | 12 | const std::size_t nu = model->get_model()->get_nu(); | |
| 179 |
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12 | data_0 = model->get_model()->createData(); |
| 180 |
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282 | for (std::size_t i = 0; i < nu; ++i) { |
| 181 |
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270 | data_u.push_back(model->get_model()->createData()); |
| 182 | } | ||
| 183 | 12 | } | |
| 184 | |||
| 185 | 24 | virtual ~ControlParametrizationDataNumDiffTpl() {} | |
| 186 | |||
| 187 | VectorXs du; //!< temporary variable used for finite differencing | ||
| 188 | std::shared_ptr<Base> data_0; //!< The data that contains the final results | ||
| 189 | std::vector<std::shared_ptr<Base> > | ||
| 190 | data_u; //!< The temporary data associated with the control variation | ||
| 191 | }; | ||
| 192 | |||
| 193 | } // namespace crocoddyl | ||
| 194 | |||
| 195 | /* --- Details -------------------------------------------------------------- */ | ||
| 196 | /* --- Details -------------------------------------------------------------- */ | ||
| 197 | /* --- Details -------------------------------------------------------------- */ | ||
| 198 | #include "crocoddyl/core/numdiff/control.hxx" | ||
| 199 | |||
| 200 | #endif // CROCODDYL_CORE_NUMDIFF_CONTROL_HPP_ | ||
| 201 |