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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// 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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#include "crocoddyl/core/residuals/control.hpp" |
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namespace crocoddyl { |
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template <typename Scalar> |
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ResidualModelControlTpl<Scalar>::ResidualModelControlTpl( |
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std::shared_ptr<typename Base::StateAbstract> state, const VectorXs& uref) |
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: Base(state, static_cast<std::size_t>(uref.size()), |
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static_cast<std::size_t>(uref.size()), false, false, true), |
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uref_(uref) { |
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if (nu_ == 0) { |
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throw_pretty("Invalid argument: " |
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<< "it seems to be an autonomous system, if so, don't add " |
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"this residual function"); |
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} |
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} |
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template <typename Scalar> |
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ResidualModelControlTpl<Scalar>::ResidualModelControlTpl( |
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std::shared_ptr<typename Base::StateAbstract> state, const std::size_t nu) |
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: Base(state, nu, nu, false, false, true), uref_(VectorXs::Zero(nu)) { |
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if (nu_ == 0) { |
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throw_pretty("Invalid argument: " |
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<< "it seems to be an autonomous system, if so, don't add " |
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"this residual function"); |
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} |
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} |
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template <typename Scalar> |
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ResidualModelControlTpl<Scalar>::ResidualModelControlTpl( |
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std::shared_ptr<typename Base::StateAbstract> state) |
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: Base(state, state->get_nv(), state->get_nv(), false, false, true), |
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uref_(VectorXs::Zero(state->get_nv())) {} |
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template <typename Scalar> |
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void ResidualModelControlTpl<Scalar>::calc( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>& u) { |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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data->r = u - uref_; |
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} |
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template <typename Scalar> |
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void ResidualModelControlTpl<Scalar>::calc( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&) { |
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data->r.setZero(); |
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} |
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template <typename Scalar> |
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#ifndef NDEBUG |
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void ResidualModelControlTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { |
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#else |
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void ResidualModelControlTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ResidualDataAbstract>&, |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { |
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#endif |
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// The Jacobian has constant values which were set in createData. |
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assert_pretty(MatrixXs(data->Ru).isApprox(MatrixXs::Identity(nu_, nu_)), |
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"Ru has wrong value"); |
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} |
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template <typename Scalar> |
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std::shared_ptr<ResidualDataAbstractTpl<Scalar> > |
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ResidualModelControlTpl<Scalar>::createData( |
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DataCollectorAbstract* const _data) { |
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std::shared_ptr<ResidualDataAbstract> data = |
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std::allocate_shared<ResidualDataAbstract>( |
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Eigen::aligned_allocator<ResidualDataAbstract>(), this, _data); |
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data->Ru.diagonal().fill((Scalar)1.); |
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return data; |
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} |
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template <typename Scalar> |
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void ResidualModelControlTpl<Scalar>::calcCostDiff( |
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const std::shared_ptr<CostDataAbstract>& cdata, |
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const std::shared_ptr<ResidualDataAbstract>&, |
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const std::shared_ptr<ActivationDataAbstract>& adata, const bool) { |
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cdata->Lu = adata->Ar; |
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cdata->Luu = adata->Arr; |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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ResidualModelControlTpl<NewScalar> ResidualModelControlTpl<Scalar>::cast() |
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const { |
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typedef ResidualModelControlTpl<NewScalar> ReturnType; |
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ReturnType ret(state_->template cast<NewScalar>(), |
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uref_.template cast<NewScalar>()); |
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return ret; |
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} |
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template <typename Scalar> |
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void ResidualModelControlTpl<Scalar>::print(std::ostream& os) const { |
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os << "ResidualModelControl"; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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ResidualModelControlTpl<Scalar>::get_reference() const { |
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return uref_; |
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} |
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template <typename Scalar> |
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void ResidualModelControlTpl<Scalar>::set_reference(const VectorXs& reference) { |
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if (static_cast<std::size_t>(reference.size()) != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "the control reference has wrong dimension (" |
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<< reference.size() |
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<< " provided - it should be " + std::to_string(nu_) + ")") |
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} |
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uref_ = reference; |
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} |
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} // namespace crocoddyl |
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