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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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#ifndef CROCODDYL_CORE_COST_BASE_HPP_ |
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#define CROCODDYL_CORE_COST_BASE_HPP_ |
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#include "crocoddyl/core/activation-base.hpp" |
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#include "crocoddyl/core/activations/quadratic.hpp" |
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#include "crocoddyl/core/data-collector-base.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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#include "crocoddyl/core/residual-base.hpp" |
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#include "crocoddyl/core/state-base.hpp" |
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#include "crocoddyl/core/utils/deprecate.hpp" |
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namespace crocoddyl { |
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class CostModelBase { |
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public: |
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virtual ~CostModelBase() = default; |
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CROCODDYL_BASE_CAST(CostModelBase, CostModelAbstractTpl) |
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}; |
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/** |
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* @brief Abstract class for cost models |
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* |
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* A cost model is defined by the scalar activation function \f$a(\cdot)\f$ and |
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* by the residual function \f$\mathbf{r}(\cdot)\f$ as follows: \f[ |
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* \ell(\mathbf{x},\mathbf{u}) = a(\mathbf{r}(\mathbf{x}, \mathbf{u})), \f] |
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* where the residual function depends on the state point |
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* \f$\mathbf{x}\in\mathcal{X}\f$, which lies in the state manifold described |
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* with a `nx`-tuple, its velocity \f$\dot{\mathbf{x}}\in |
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* T_{\mathbf{x}}\mathcal{X}\f$ that belongs to the tangent space with `ndx` |
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* dimension, and the control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$. The |
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* residual vector is defined by \f$\mathbf{r}\in\mathbb{R}^{nr}\f$ where `nr` |
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* describes its dimension in the Euclidean space. On the other hand, the |
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* activation function builds a cost value based on the definition of the |
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* residual vector. The residual vector has to be specialized in a derived |
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* classes. |
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* |
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* The main computations are carring out in `calc()` and `calcDiff()` routines. |
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* `calc()` computes the cost (and its residual) and `calcDiff()` computes the |
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* derivatives of the cost function (and its residual). Concretely speaking, |
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* `calcDiff()` builds a linear-quadratic approximation of the cost function |
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* with the form: \f$\mathbf{l_x}\in\mathbb{R}^{ndx}\f$, |
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* \f$\mathbf{l_u}\in\mathbb{R}^{nu}\f$, |
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* \f$\mathbf{l_{xx}}\in\mathbb{R}^{ndx\times ndx}\f$, |
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* \f$\mathbf{l_{xu}}\in\mathbb{R}^{ndx\times nu}\f$, |
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* \f$\mathbf{l_{uu}}\in\mathbb{R}^{nu\times nu}\f$ are the Jacobians and |
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* Hessians, respectively. Additionally, it is important to note that |
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* `calcDiff()` computes the derivatives using the latest stored values by |
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* `calc()`. Thus, we need to first run `calc()`. |
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* |
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* \sa `ActivationModelAbstractTpl`, `ResidualModelAbstractTpl` `calc()`, |
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* `calcDiff()`, `createData()` |
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*/ |
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template <typename _Scalar> |
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class CostModelAbstractTpl : public CostModelBase { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef CostDataAbstractTpl<Scalar> CostDataAbstract; |
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typedef StateAbstractTpl<Scalar> StateAbstract; |
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typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract; |
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typedef ResidualModelAbstractTpl<Scalar> ResidualModelAbstract; |
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typedef ActivationModelQuadTpl<Scalar> ActivationModelQuad; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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/** |
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* @brief Initialize the cost model |
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* |
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* @param[in] state State of the dynamical system |
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* @param[in] activation Activation model |
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* @param[in] residual Residual model |
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*/ |
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CostModelAbstractTpl(std::shared_ptr<StateAbstract> state, |
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std::shared_ptr<ActivationModelAbstract> activation, |
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std::shared_ptr<ResidualModelAbstract> residual); |
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/** |
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* @brief Initialize the cost model |
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* |
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* @param[in] state State of the dynamical system |
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* @param[in] activation Activation model |
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* @param[in] nu Dimension of control vector |
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*/ |
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CostModelAbstractTpl(std::shared_ptr<StateAbstract> state, |
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std::shared_ptr<ActivationModelAbstract> activation, |
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const std::size_t nu); |
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/** |
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* @copybrief CostModelAbstractTpl() |
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* |
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* The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. |
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* |
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* @param[in] state State of the dynamical system |
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* @param[in] activation Activation model |
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*/ |
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CostModelAbstractTpl(std::shared_ptr<StateAbstract> state, |
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std::shared_ptr<ActivationModelAbstract> activation); |
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/** |
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* @copybrief CostModelAbstractTpl() |
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* |
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* We use `ActivationModelQuadTpl` as a default activation model (i.e., |
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* \f$a=\frac{1}{2}\|\mathbf{r}\|^2\f$) |
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* |
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* @param[in] state State of the dynamical system |
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* @param[in] residual Residual model |
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*/ |
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CostModelAbstractTpl(std::shared_ptr<StateAbstract> state, |
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std::shared_ptr<ResidualModelAbstract> residual); |
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/** |
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* @copybrief CostModelAbstractTpl() |
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* |
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* We use `ActivationModelQuadTpl` as a default activation model (i.e., |
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* \f$a=\frac{1}{2}\|\mathbf{r}\|^2\f$) |
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* |
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* @param[in] state State of the system |
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* @param[in] nr Dimension of residual vector |
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* @param[in] nu Dimension of control vector |
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*/ |
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CostModelAbstractTpl(std::shared_ptr<StateAbstract> state, |
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const std::size_t nr, const std::size_t nu); |
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/** |
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* @copybrief CostModelAbstractTpl() |
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* |
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* We use `ActivationModelQuadTpl` as a default activation model (i.e., |
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* \f$a=\frac{1}{2}\|\mathbf{r}\|^2\f$). Furthermore, the default `nu` value |
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* is obtained from `StateAbstractTpl::get_nv()`. |
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* |
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* @param[in] state State of the dynamical system |
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* @param[in] nr Dimension of residual vector |
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* @param[in] nu Dimension of control vector |
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*/ |
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CostModelAbstractTpl(std::shared_ptr<StateAbstract> state, |
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const std::size_t nr); |
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virtual ~CostModelAbstractTpl() = default; |
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/** |
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* @brief Compute the cost value and its residual vector |
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* |
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* @param[in] data Cost data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calc(const std::shared_ptr<CostDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) = 0; |
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/** |
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* @brief Compute the total cost value for nodes that depends only on the |
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* state |
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* |
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* It updates the total cost based on the state only. This function is used in |
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* the terminal nodes of an optimal control problem. |
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* |
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* @param[in] data Cost data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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virtual void calc(const std::shared_ptr<CostDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Compute the Jacobian and Hessian of cost and its residual vector |
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* |
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* It computes the Jacobian and Hessian of the cost function. It assumes that |
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* `calc()` has been run first. |
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* |
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* @param[in] data Cost data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calcDiff(const std::shared_ptr<CostDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) = 0; |
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/** |
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* @brief Compute the Jacobian and Hessian of the cost functions with respect |
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* to the state only |
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* |
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* It updates the Jacobian and Hessian of the cost function based on the state |
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* only. This function is used in the terminal nodes of an optimal control |
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* problem. |
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* |
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* @param[in] data Cost data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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virtual void calcDiff(const std::shared_ptr<CostDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Create the cost data |
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* |
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* The default data contains objects to store the values of the cost, residual |
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* vector and their derivatives (first and second order derivatives). However, |
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* it is possible to specialize this function if we need to create additional |
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* data, for instance, to avoid dynamic memory allocation. |
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* |
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* @param data Data collector |
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* @return the cost data |
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*/ |
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virtual std::shared_ptr<CostDataAbstract> createData( |
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DataCollectorAbstract* const data); |
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/** |
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* @brief Return the state |
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*/ |
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const std::shared_ptr<StateAbstract>& get_state() const; |
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/** |
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* @brief Return the activation model |
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*/ |
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const std::shared_ptr<ActivationModelAbstract>& get_activation() const; |
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/** |
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* @brief Return the residual model |
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*/ |
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const std::shared_ptr<ResidualModelAbstract>& get_residual() const; |
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/** |
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* @brief Return the dimension of the control input |
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*/ |
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std::size_t get_nu() const; |
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/** |
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* @brief Print information on the cost model |
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*/ |
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template <class Scalar> |
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friend std::ostream& operator<<(std::ostream& os, |
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const CostModelAbstractTpl<Scalar>& model); |
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/** |
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* @brief Modify the cost reference |
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*/ |
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template <class ReferenceType> |
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void set_reference(ReferenceType ref); |
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/** |
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* @brief Return the cost reference |
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*/ |
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template <class ReferenceType> |
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ReferenceType get_reference(); |
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/** |
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* @brief Print relevant information of the cost model |
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* |
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* @param[out] os Output stream object |
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*/ |
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virtual void print(std::ostream& os) const; |
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protected: |
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/** |
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* @copybrief set_reference() |
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*/ |
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virtual void set_referenceImpl(const std::type_info&, const void*); |
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/** |
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* @copybrief get_reference() |
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*/ |
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virtual void get_referenceImpl(const std::type_info&, void*); |
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std::shared_ptr<StateAbstract> state_; //!< State description |
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std::shared_ptr<ActivationModelAbstract> activation_; //!< Activation model |
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std::shared_ptr<ResidualModelAbstract> residual_; //!< Residual model |
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std::size_t nu_; //!< Control dimension |
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VectorXs unone_; //!< No control vector |
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CostModelAbstractTpl() |
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: state_(nullptr), activation_(nullptr), residual_(nullptr), nu_(0) {} |
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}; |
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template <typename _Scalar> |
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struct CostDataAbstractTpl { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract; |
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typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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template <template <typename Scalar> class Model> |
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CostDataAbstractTpl(Model<Scalar>* const model, |
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DataCollectorAbstract* const data) |
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: shared(data), |
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activation(model->get_activation()->createData()), |
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residual(model->get_residual()->createData(data)), |
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cost(Scalar(0.)), |
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Lx(model->get_state()->get_ndx()), |
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Lu(model->get_nu()), |
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Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()), |
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Lxu(model->get_state()->get_ndx(), model->get_nu()), |
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Luu(model->get_nu(), model->get_nu()) { |
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Lx.setZero(); |
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Lu.setZero(); |
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Lxx.setZero(); |
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Lxu.setZero(); |
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Luu.setZero(); |
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} |
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virtual ~CostDataAbstractTpl() = default; |
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DEPRECATED( |
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"Use residual.r", const VectorXs& get_r() const { return residual->r; };) |
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DEPRECATED( |
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"Use residual.Rx", |
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const MatrixXs& get_Rx() const { return residual->Rx; };) |
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DEPRECATED( |
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"Use residual.Ru", |
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const MatrixXs& get_Ru() const { return residual->Ru; };) |
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DEPRECATED( |
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"Use residual.r", void set_r(const VectorXs& r) { residual->r = r; };) |
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DEPRECATED( |
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"Use residual.Rx", |
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void set_Rx(const MatrixXs& Rx) { residual->Rx = Rx; };) |
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DEPRECATED( |
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"Use residual.Ru", |
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void set_Ru(const MatrixXs& Ru) { residual->Ru = Ru; };) |
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DataCollectorAbstract* shared; |
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std::shared_ptr<ActivationDataAbstract> activation; |
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std::shared_ptr<ResidualDataAbstract> residual; |
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Scalar cost; |
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VectorXs Lx; |
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VectorXs Lu; |
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MatrixXs Lxx; |
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MatrixXs Lxu; |
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MatrixXs Luu; |
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}; |
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} // namespace crocoddyl |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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#include "crocoddyl/core/cost-base.hxx" |
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| 351 |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::CostModelAbstractTpl) |
| 352 |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::CostDataAbstractTpl) |
| 353 |
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| 354 |
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#endif // CROCODDYL_CORE_COST_BASE_HPP_ |
| 355 |
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