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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_COSTS_COST_SUM_HPP_ |
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#define CROCODDYL_CORE_COSTS_COST_SUM_HPP_ |
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#include "crocoddyl/core/cost-base.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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struct CostItemTpl { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef CostModelAbstractTpl<Scalar> CostModelAbstract; |
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CostItemTpl() {} |
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CostItemTpl(const std::string& name, std::shared_ptr<CostModelAbstract> cost, |
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const Scalar weight, const bool active = true) |
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: name(name), cost(cost), weight(weight), active(active) {} |
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template <typename NewScalar> |
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CostItemTpl<NewScalar> cast() const { |
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typedef CostItemTpl<NewScalar> ReturnType; |
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ReturnType ret(name, cost->template cast<NewScalar>(), |
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scalar_cast<NewScalar>(weight), active); |
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return ret; |
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} |
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/** |
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* @brief Print information on the cost item |
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*/ |
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friend std::ostream& operator<<(std::ostream& os, |
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const CostItemTpl<Scalar>& model) { |
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os << "{w=" << model.weight << ", " << *model.cost << "}"; |
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return os; |
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} |
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std::string name; |
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std::shared_ptr<CostModelAbstract> cost; |
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Scalar weight; |
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bool active; |
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}; |
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/** |
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* @brief Summation of individual cost models |
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* |
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* This class serves to manage a set of added cost models. The cost functions |
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* might active or inactive, with this approach we avoid dynamic allocation of |
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* memory. Each cost model is added through `addCost`, where the weight and its |
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* status can be defined. |
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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 costs (and its residuals) and `calcDiff()` computes the |
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* derivatives of the cost functions (and its residuals). Concretely speaking, |
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* `calcDiff()` builds a linear-quadratic approximation of the total cost |
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* function with the form: \f$\mathbf{\ell_x}\in\mathbb{R}^{ndx}\f$, |
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* \f$\mathbf{\ell_u}\in\mathbb{R}^{nu}\f$, |
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* \f$\mathbf{\ell_{xx}}\in\mathbb{R}^{ndx\times ndx}\f$, |
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* \f$\mathbf{\ell_{xu}}\in\mathbb{R}^{ndx\times nu}\f$, |
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* \f$\mathbf{\ell_{uu}}\in\mathbb{R}^{nu\times nu}\f$ are the Jacobians and |
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* Hessians, respectively. |
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* |
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* \sa `CostModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` |
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*/ |
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template <typename _Scalar> |
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class CostModelSumTpl { |
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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 CostDataSumTpl<Scalar> CostDataSum; |
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typedef StateAbstractTpl<Scalar> StateAbstract; |
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typedef CostModelAbstractTpl<Scalar> CostModelAbstract; |
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typedef CostDataAbstractTpl<Scalar> CostDataAbstract; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef CostItemTpl<Scalar> CostItem; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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typedef std::map<std::string, std::shared_ptr<CostItem> > CostModelContainer; |
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typedef std::map<std::string, std::shared_ptr<CostDataAbstract> > |
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CostDataContainer; |
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/** |
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* @brief Initialize the cost-sum model |
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* |
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* @param[in] state State description |
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* @param[in] nu Dimension of control vector |
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*/ |
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CostModelSumTpl(std::shared_ptr<StateAbstract> state, const std::size_t nu); |
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/** |
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* @brief Initialize the cost-sum model |
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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 description |
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*/ |
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explicit CostModelSumTpl(std::shared_ptr<StateAbstract> state); |
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~CostModelSumTpl(); |
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/** |
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* @brief Add a cost item |
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* |
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* @param[in] name Cost name |
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* @param[in] cost Cost model |
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* @param[in] weight Cost weight |
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* @param[in] active True if the cost is activated (default true) |
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*/ |
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void addCost(const std::string& name, std::shared_ptr<CostModelAbstract> cost, |
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const Scalar weight, const bool active = true); |
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/** |
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* @brief Add a cost item |
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* |
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* @param[in] cost_item Cost item |
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*/ |
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void addCost(const std::shared_ptr<CostItem>& cost_item); |
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/** |
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* @brief Remove a cost item |
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* |
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* @param[in] name Cost name |
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*/ |
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void removeCost(const std::string& name); |
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/** |
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* @brief Change the cost status |
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* |
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* @param[in] name Cost name |
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* @param[in] active Cost status (true for active and false for inactive) |
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*/ |
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void changeCostStatus(const std::string& name, const bool active); |
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/** |
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* @brief Compute the total cost value |
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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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void calc(const std::shared_ptr<CostDataSum>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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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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void calc(const std::shared_ptr<CostDataSum>& 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 the total cost |
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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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void calcDiff(const std::shared_ptr<CostDataSum>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief Compute the Jacobian and Hessian of the total cost for nodes that |
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* depends on the state only |
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* |
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* It updates the Jacobian and Hessian of the total cost 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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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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void calcDiff(const std::shared_ptr<CostDataSum>& 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 is 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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std::shared_ptr<CostDataSum> createData(DataCollectorAbstract* const data); |
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/** |
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* @brief Cast the cost-sum model to a different scalar type. |
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* |
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* It is useful for operations requiring different precision or scalar types. |
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* |
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* @tparam NewScalar The new scalar type to cast to. |
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* @return CostModelSumTpl<NewScalar> A cost-sum model with the |
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* new scalar type. |
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*/ |
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template <typename NewScalar> |
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CostModelSumTpl<NewScalar> cast() const; |
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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 stack of cost models |
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*/ |
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const CostModelContainer& get_costs() 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 Return the dimension of the active residual vector |
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*/ |
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std::size_t get_nr() const; |
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/** |
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* @brief Return the dimension of the total residual vector |
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*/ |
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std::size_t get_nr_total() const; |
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/** |
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* @brief Return the names of the set of active costs |
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*/ |
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const std::set<std::string>& get_active_set() const; |
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/** |
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* @brief Return the names of the set of inactive costs |
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*/ |
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const std::set<std::string>& get_inactive_set() const; |
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DEPRECATED( |
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"get_active() is deprecated and will be replaced with get_active_set()", |
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const std::vector<std::string>& get_active() { |
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active_.clear(); |
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active_.reserve(active_set_.size()); |
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for (const auto& contact : active_set_) { |
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active_.push_back(contact); |
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} |
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return active_; |
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};) |
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DEPRECATED( |
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"get_inactive() is deprecated and will be replaced with " |
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"get_inactive_set()", |
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const std::vector<std::string>& get_inactive() { |
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inactive_.clear(); |
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inactive_.reserve(inactive_set_.size()); |
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for (const auto& contact : inactive_set_) { |
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inactive_.push_back(contact); |
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} |
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return inactive_; |
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};) |
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/** |
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* @brief Return the status of a given cost name |
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* |
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* @param[in] name Cost name |
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*/ |
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bool getCostStatus(const std::string& name) const; |
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/** |
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* @brief Print information on the stack of costs |
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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 CostModelSumTpl<Scalar>& model); |
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private: |
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std::shared_ptr<StateAbstract> state_; //!< State description |
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CostModelContainer costs_; //!< Stack of cost items |
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std::size_t nu_; //!< Dimension of the control input |
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std::size_t nr_; //!< Dimension of the active residual vector |
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std::size_t nr_total_; //!< Dimension of the total residual vector |
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std::set<std::string> active_set_; //!< Names of the active set of cost items |
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std::set<std::string> |
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inactive_set_; //!< Names of the inactive set of cost items |
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// Vector variants. These are to maintain the API compatibility for the |
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// deprecated syntax. These will be removed in future versions along with |
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// get_active() / get_inactive() |
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std::vector<std::string> active_; |
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std::vector<std::string> inactive_; |
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}; |
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template <typename _Scalar> |
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struct CostDataSumTpl { |
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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 DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef CostItemTpl<Scalar> CostItem; |
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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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CostDataSumTpl(Model<Scalar>* const model, DataCollectorAbstract* const data) |
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: Lx_internal(model->get_state()->get_ndx()), |
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Lu_internal(model->get_nu()), |
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Lxx_internal(model->get_state()->get_ndx(), |
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model->get_state()->get_ndx()), |
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Lxu_internal(model->get_state()->get_ndx(), model->get_nu()), |
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Luu_internal(model->get_nu(), model->get_nu()), |
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shared(data), |
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cost(Scalar(0.)), |
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Lx(Lx_internal.data(), model->get_state()->get_ndx()), |
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Lu(Lu_internal.data(), model->get_nu()), |
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Lxx(Lxx_internal.data(), model->get_state()->get_ndx(), |
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model->get_state()->get_ndx()), |
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Lxu(Lxu_internal.data(), model->get_state()->get_ndx(), |
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model->get_nu()), |
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Luu(Luu_internal.data(), 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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for (typename CostModelSumTpl<Scalar>::CostModelContainer::const_iterator |
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it = model->get_costs().begin(); |
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it != model->get_costs().end(); ++it) { |
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const std::shared_ptr<CostItem>& item = it->second; |
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costs.insert(std::make_pair(item->name, item->cost->createData(data))); |
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} |
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} |
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template <class ActionData> |
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void shareMemory(ActionData* const data) { |
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// Save memory by setting the internal variables with null dimension |
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Lx_internal.resize(0); |
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Lu_internal.resize(0); |
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Lxx_internal.resize(0, 0); |
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Lxu_internal.resize(0, 0); |
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Luu_internal.resize(0, 0); |
| 358 |
|
|
// Share memory with the differential action data |
| 359 |
|
✗ |
new (&Lx) Eigen::Map<VectorXs>(data->Lx.data(), data->Lx.size()); |
| 360 |
|
✗ |
new (&Lu) Eigen::Map<VectorXs>(data->Lu.data(), data->Lu.size()); |
| 361 |
|
✗ |
new (&Lxx) Eigen::Map<MatrixXs>(data->Lxx.data(), data->Lxx.rows(), |
| 362 |
|
✗ |
data->Lxx.cols()); |
| 363 |
|
✗ |
new (&Lxu) Eigen::Map<MatrixXs>(data->Lxu.data(), data->Lxu.rows(), |
| 364 |
|
✗ |
data->Lxu.cols()); |
| 365 |
|
✗ |
new (&Luu) Eigen::Map<MatrixXs>(data->Luu.data(), data->Luu.rows(), |
| 366 |
|
✗ |
data->Luu.cols()); |
| 367 |
|
|
} |
| 368 |
|
|
|
| 369 |
|
✗ |
VectorXs get_Lx() const { return Lx; } |
| 370 |
|
✗ |
VectorXs get_Lu() const { return Lu; } |
| 371 |
|
✗ |
MatrixXs get_Lxx() const { return Lxx; } |
| 372 |
|
✗ |
MatrixXs get_Lxu() const { return Lxu; } |
| 373 |
|
✗ |
MatrixXs get_Luu() const { return Luu; } |
| 374 |
|
|
|
| 375 |
|
✗ |
void set_Lx(const VectorXs& _Lx) { |
| 376 |
|
✗ |
if (Lx.size() != _Lx.size()) { |
| 377 |
|
✗ |
throw_pretty( |
| 378 |
|
|
"Invalid argument: " << "Lx has wrong dimension (it should be " + |
| 379 |
|
|
std::to_string(Lx.size()) + ")"); |
| 380 |
|
|
} |
| 381 |
|
✗ |
Lx = _Lx; |
| 382 |
|
|
} |
| 383 |
|
✗ |
void set_Lu(const VectorXs& _Lu) { |
| 384 |
|
✗ |
if (Lu.size() != _Lu.size()) { |
| 385 |
|
✗ |
throw_pretty( |
| 386 |
|
|
"Invalid argument: " << "Lu has wrong dimension (it should be " + |
| 387 |
|
|
std::to_string(Lu.size()) + ")"); |
| 388 |
|
|
} |
| 389 |
|
✗ |
Lu = _Lu; |
| 390 |
|
|
} |
| 391 |
|
✗ |
void set_Lxx(const MatrixXs& _Lxx) { |
| 392 |
|
✗ |
if (Lxx.rows() != _Lxx.rows() || Lxx.cols() != _Lxx.cols()) { |
| 393 |
|
✗ |
throw_pretty( |
| 394 |
|
|
"Invalid argument: " << "Lxx has wrong dimension (it should be " + |
| 395 |
|
|
std::to_string(Lxx.rows()) + ", " + |
| 396 |
|
|
std::to_string(Lxx.cols()) + ")"); |
| 397 |
|
|
} |
| 398 |
|
✗ |
Lxx = _Lxx; |
| 399 |
|
|
} |
| 400 |
|
✗ |
void set_Lxu(const MatrixXs& _Lxu) { |
| 401 |
|
✗ |
if (Lxu.rows() != _Lxu.rows() || Lxu.cols() != _Lxu.cols()) { |
| 402 |
|
✗ |
throw_pretty( |
| 403 |
|
|
"Invalid argument: " << "Lxu has wrong dimension (it should be " + |
| 404 |
|
|
std::to_string(Lxu.rows()) + ", " + |
| 405 |
|
|
std::to_string(Lxu.cols()) + ")"); |
| 406 |
|
|
} |
| 407 |
|
✗ |
Lxu = _Lxu; |
| 408 |
|
|
} |
| 409 |
|
✗ |
void set_Luu(const MatrixXs& _Luu) { |
| 410 |
|
✗ |
if (Luu.rows() != _Luu.rows() || Luu.cols() != _Luu.cols()) { |
| 411 |
|
✗ |
throw_pretty( |
| 412 |
|
|
"Invalid argument: " << "Luu has wrong dimension (it should be " + |
| 413 |
|
|
std::to_string(Luu.rows()) + ", " + |
| 414 |
|
|
std::to_string(Luu.cols()) + ")"); |
| 415 |
|
|
} |
| 416 |
|
✗ |
Luu = _Luu; |
| 417 |
|
|
} |
| 418 |
|
|
|
| 419 |
|
|
// Creates internal data in case we don't share it externally |
| 420 |
|
|
VectorXs Lx_internal; |
| 421 |
|
|
VectorXs Lu_internal; |
| 422 |
|
|
MatrixXs Lxx_internal; |
| 423 |
|
|
MatrixXs Lxu_internal; |
| 424 |
|
|
MatrixXs Luu_internal; |
| 425 |
|
|
|
| 426 |
|
|
typename CostModelSumTpl<Scalar>::CostDataContainer costs; |
| 427 |
|
|
DataCollectorAbstract* shared; |
| 428 |
|
|
Scalar cost; |
| 429 |
|
|
Eigen::Map<VectorXs> Lx; |
| 430 |
|
|
Eigen::Map<VectorXs> Lu; |
| 431 |
|
|
Eigen::Map<MatrixXs> Lxx; |
| 432 |
|
|
Eigen::Map<MatrixXs> Lxu; |
| 433 |
|
|
Eigen::Map<MatrixXs> Luu; |
| 434 |
|
|
}; |
| 435 |
|
|
|
| 436 |
|
|
} // namespace crocoddyl |
| 437 |
|
|
|
| 438 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 439 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 440 |
|
|
/* --- Details -------------------------------------------------------------- */ |
| 441 |
|
|
#include "crocoddyl/core/costs/cost-sum.hxx" |
| 442 |
|
|
|
| 443 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::CostItemTpl) |
| 444 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::CostModelSumTpl) |
| 445 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::CostDataSumTpl) |
| 446 |
|
|
|
| 447 |
|
|
#endif // CROCODDYL_CORE_COSTS_COST_SUM_HPP_ |
| 448 |
|
|
|