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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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namespace crocoddyl { |
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template <typename Scalar> |
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CostModelSumTpl<Scalar>::CostModelSumTpl(std::shared_ptr<StateAbstract> state, |
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const std::size_t nu) |
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: state_(state), nu_(nu), nr_(0), nr_total_(0) {} |
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template <typename Scalar> |
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CostModelSumTpl<Scalar>::CostModelSumTpl(std::shared_ptr<StateAbstract> state) |
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: state_(state), nu_(state->get_nv()), nr_(0), nr_total_(0) {} |
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template <typename Scalar> |
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CostModelSumTpl<Scalar>::~CostModelSumTpl() {} |
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template <typename Scalar> |
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void CostModelSumTpl<Scalar>::addCost(const std::string& name, |
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std::shared_ptr<CostModelAbstract> cost, |
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const Scalar weight, const bool active) { |
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if (cost->get_nu() != nu_) { |
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throw_pretty( |
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name |
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<< " cost item doesn't have the same control dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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std::pair<typename CostModelContainer::iterator, bool> ret = |
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costs_.insert(std::make_pair( |
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name, std::make_shared<CostItem>(name, cost, weight, active))); |
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if (ret.second == false) { |
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std::cerr << "Warning: we couldn't add the " << name |
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<< " cost item, it already existed." << std::endl; |
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} else if (active) { |
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nr_ += cost->get_activation()->get_nr(); |
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nr_total_ += cost->get_activation()->get_nr(); |
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active_set_.insert(name); |
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} else if (!active) { |
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nr_total_ += cost->get_activation()->get_nr(); |
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inactive_set_.insert(name); |
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} |
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} |
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template <typename Scalar> |
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void CostModelSumTpl<Scalar>::addCost( |
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const std::shared_ptr<CostItem>& cost_item) { |
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if (cost_item->cost->get_nu() != nu_) { |
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throw_pretty( |
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cost_item->name |
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<< " cost item doesn't have the same control dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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costs_.insert(std::make_pair(cost_item->name, cost_item)); |
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if (cost_item->active) { |
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nr_ += cost_item->cost->get_activation()->get_nr(); |
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nr_total_ += cost_item->cost->get_activation()->get_nr(); |
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active_set_.insert(cost_item->name); |
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} else { |
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nr_total_ += cost_item->cost->get_activation()->get_nr(); |
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inactive_set_.insert(cost_item->name); |
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} |
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} |
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template <typename Scalar> |
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void CostModelSumTpl<Scalar>::removeCost(const std::string& name) { |
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typename CostModelContainer::iterator it = costs_.find(name); |
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if (it != costs_.end()) { |
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nr_ -= it->second->cost->get_activation()->get_nr(); |
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nr_total_ -= it->second->cost->get_activation()->get_nr(); |
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costs_.erase(it); |
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active_set_.erase(name); |
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inactive_set_.erase(name); |
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} else { |
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std::cerr << "Warning: we couldn't remove the " << name |
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<< " cost item, it doesn't exist." << std::endl; |
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} |
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} |
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template <typename Scalar> |
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void CostModelSumTpl<Scalar>::changeCostStatus(const std::string& name, |
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const bool active) { |
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typename CostModelContainer::iterator it = costs_.find(name); |
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if (it != costs_.end()) { |
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if (active && !it->second->active) { |
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nr_ += it->second->cost->get_activation()->get_nr(); |
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active_set_.insert(name); |
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inactive_set_.erase(name); |
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it->second->active = active; |
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} else if (!active && it->second->active) { |
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nr_ -= it->second->cost->get_activation()->get_nr(); |
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active_set_.erase(name); |
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inactive_set_.insert(name); |
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it->second->active = active; |
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} |
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} else { |
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std::cerr << "Warning: we couldn't change the status of the " << name |
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<< " cost item, it doesn't exist." << std::endl; |
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} |
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} |
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template <typename Scalar> |
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void CostModelSumTpl<Scalar>::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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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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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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if (data->costs.size() != costs_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "it doesn't match the number of cost datas and models"); |
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} |
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data->cost = Scalar(0.); |
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typename CostModelContainer::iterator it_m, end_m; |
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typename CostDataContainer::iterator it_d, end_d; |
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for (it_m = costs_.begin(), end_m = costs_.end(), it_d = data->costs.begin(), |
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end_d = data->costs.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<CostItem>& m_i = it_m->second; |
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if (m_i->active) { |
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const std::shared_ptr<CostDataAbstract>& d_i = it_d->second; |
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assert_pretty(it_m->first == it_d->first, |
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"it doesn't match the cost name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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m_i->cost->calc(d_i, x, u); |
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data->cost += m_i->weight * d_i->cost; |
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} |
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} |
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} |
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template <typename Scalar> |
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void CostModelSumTpl<Scalar>::calc(const std::shared_ptr<CostDataSum>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (data->costs.size() != costs_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "it doesn't match the number of cost datas and models"); |
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} |
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data->cost = Scalar(0.); |
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typename CostModelContainer::iterator it_m, end_m; |
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typename CostDataContainer::iterator it_d, end_d; |
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for (it_m = costs_.begin(), end_m = costs_.end(), it_d = data->costs.begin(), |
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end_d = data->costs.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<CostItem>& m_i = it_m->second; |
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if (m_i->active) { |
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const std::shared_ptr<CostDataAbstract>& d_i = it_d->second; |
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assert_pretty(it_m->first == it_d->first, |
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"it doesn't match the cost name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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m_i->cost->calc(d_i, x); |
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data->cost += m_i->weight * d_i->cost; |
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} |
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} |
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} |
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template <typename Scalar> |
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void CostModelSumTpl<Scalar>::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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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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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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if (data->costs.size() != costs_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "it doesn't match the number of cost datas and models"); |
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} |
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data->Lx.setZero(); |
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data->Lu.setZero(); |
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data->Lxx.setZero(); |
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data->Lxu.setZero(); |
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data->Luu.setZero(); |
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typename CostModelContainer::iterator it_m, end_m; |
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typename CostDataContainer::iterator it_d, end_d; |
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for (it_m = costs_.begin(), end_m = costs_.end(), it_d = data->costs.begin(), |
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end_d = data->costs.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<CostItem>& m_i = it_m->second; |
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if (m_i->active) { |
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const std::shared_ptr<CostDataAbstract>& d_i = it_d->second; |
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assert_pretty(it_m->first == it_d->first, |
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"it doesn't match the cost name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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m_i->cost->calcDiff(d_i, x, u); |
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data->Lx += m_i->weight * d_i->Lx; |
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data->Lu += m_i->weight * d_i->Lu; |
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data->Lxx += m_i->weight * d_i->Lxx; |
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data->Lxu += m_i->weight * d_i->Lxu; |
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data->Luu += m_i->weight * d_i->Luu; |
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} |
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} |
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} |
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template <typename Scalar> |
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void CostModelSumTpl<Scalar>::calcDiff(const std::shared_ptr<CostDataSum>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (data->costs.size() != costs_.size()) { |
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throw_pretty("Invalid argument: " |
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<< "it doesn't match the number of cost datas and models"); |
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} |
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data->Lx.setZero(); |
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data->Lxx.setZero(); |
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typename CostModelContainer::iterator it_m, end_m; |
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typename CostDataContainer::iterator it_d, end_d; |
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for (it_m = costs_.begin(), end_m = costs_.end(), it_d = data->costs.begin(), |
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end_d = data->costs.end(); |
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it_m != end_m || it_d != end_d; ++it_m, ++it_d) { |
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const std::shared_ptr<CostItem>& m_i = it_m->second; |
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if (m_i->active) { |
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const std::shared_ptr<CostDataAbstract>& d_i = it_d->second; |
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assert_pretty(it_m->first == it_d->first, |
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"it doesn't match the cost name between model and data (" |
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<< it_m->first << " != " << it_d->first << ")"); |
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m_i->cost->calcDiff(d_i, x); |
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data->Lx += m_i->weight * d_i->Lx; |
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data->Lxx += m_i->weight * d_i->Lxx; |
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} |
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} |
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} |
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template <typename Scalar> |
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std::shared_ptr<CostDataSumTpl<Scalar> > CostModelSumTpl<Scalar>::createData( |
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DataCollectorAbstract* const data) { |
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return std::allocate_shared<CostDataSum>( |
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Eigen::aligned_allocator<CostDataSum>(), this, data); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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CostModelSumTpl<NewScalar> CostModelSumTpl<Scalar>::cast() const { |
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typedef CostModelSumTpl<NewScalar> ReturnType; |
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typedef CostItemTpl<NewScalar> CostType; |
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ReturnType ret(state_->template cast<NewScalar>(), nu_); |
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typename CostModelContainer::const_iterator it_m, end_m; |
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for (it_m = costs_.begin(), end_m = costs_.end(); it_m != end_m; ++it_m) { |
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const std::string name = it_m->first; |
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const CostType& m_i = it_m->second->template cast<NewScalar>(); |
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ret.addCost(name, m_i.cost, m_i.weight, m_i.active); |
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} |
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return ret; |
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} |
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template <typename Scalar> |
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const std::shared_ptr<StateAbstractTpl<Scalar> >& |
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CostModelSumTpl<Scalar>::get_state() const { |
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return state_; |
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} |
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template <typename Scalar> |
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const typename CostModelSumTpl<Scalar>::CostModelContainer& |
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CostModelSumTpl<Scalar>::get_costs() const { |
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return costs_; |
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} |
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template <typename Scalar> |
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std::size_t CostModelSumTpl<Scalar>::get_nu() const { |
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return nu_; |
| 294 |
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} |
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template <typename Scalar> |
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std::size_t CostModelSumTpl<Scalar>::get_nr() const { |
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return nr_; |
| 299 |
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} |
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template <typename Scalar> |
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std::size_t CostModelSumTpl<Scalar>::get_nr_total() const { |
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return nr_total_; |
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} |
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template <typename Scalar> |
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const std::set<std::string>& CostModelSumTpl<Scalar>::get_active_set() const { |
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✗ |
return active_set_; |
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} |
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template <typename Scalar> |
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const std::set<std::string>& CostModelSumTpl<Scalar>::get_inactive_set() const { |
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✗ |
return inactive_set_; |
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} |
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| 316 |
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template <typename Scalar> |
| 317 |
|
✗ |
bool CostModelSumTpl<Scalar>::getCostStatus(const std::string& name) const { |
| 318 |
|
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typename CostModelContainer::const_iterator it = costs_.find(name); |
| 319 |
|
✗ |
if (it != costs_.end()) { |
| 320 |
|
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return it->second->active; |
| 321 |
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} else { |
| 322 |
|
|
std::cerr << "Warning: we couldn't get the status of the " << name |
| 323 |
|
✗ |
<< " cost item, it doesn't exist." << std::endl; |
| 324 |
|
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return false; |
| 325 |
|
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} |
| 326 |
|
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} |
| 327 |
|
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|
| 328 |
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template <typename Scalar> |
| 329 |
|
✗ |
std::ostream& operator<<(std::ostream& os, |
| 330 |
|
|
const CostModelSumTpl<Scalar>& model) { |
| 331 |
|
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const std::set<std::string>& active = model.get_active_set(); |
| 332 |
|
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const std::set<std::string>& inactive = model.get_inactive_set(); |
| 333 |
|
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os << "CostModelSum:" << std::endl; |
| 334 |
|
✗ |
os << " Active:" << std::endl; |
| 335 |
|
✗ |
for (std::set<std::string>::const_iterator it = active.begin(); |
| 336 |
|
✗ |
it != active.end(); ++it) { |
| 337 |
|
|
const std::shared_ptr<typename CostModelSumTpl<Scalar>::CostItem>& |
| 338 |
|
✗ |
cost_item = model.get_costs().find(*it)->second; |
| 339 |
|
✗ |
if (it != --active.end()) { |
| 340 |
|
✗ |
os << " " << *it << ": " << *cost_item << std::endl; |
| 341 |
|
|
} else { |
| 342 |
|
✗ |
os << " " << *it << ": " << *cost_item << std::endl; |
| 343 |
|
|
} |
| 344 |
|
|
} |
| 345 |
|
✗ |
os << " Inactive:" << std::endl; |
| 346 |
|
✗ |
for (std::set<std::string>::const_iterator it = inactive.begin(); |
| 347 |
|
✗ |
it != inactive.end(); ++it) { |
| 348 |
|
|
const std::shared_ptr<typename CostModelSumTpl<Scalar>::CostItem>& |
| 349 |
|
✗ |
cost_item = model.get_costs().find(*it)->second; |
| 350 |
|
✗ |
if (it != --inactive.end()) { |
| 351 |
|
✗ |
os << " " << *it << ": " << *cost_item << std::endl; |
| 352 |
|
|
} else { |
| 353 |
|
✗ |
os << " " << *it << ": " << *cost_item; |
| 354 |
|
|
} |
| 355 |
|
|
} |
| 356 |
|
✗ |
return os; |
| 357 |
|
|
} |
| 358 |
|
|
|
| 359 |
|
|
} // namespace crocoddyl |
| 360 |
|
|
|