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|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_CORE_NUMDIFF_COST_HPP_ | ||
| 11 | #define CROCODDYL_CORE_NUMDIFF_COST_HPP_ | ||
| 12 | |||
| 13 | #include <boost/function.hpp> | ||
| 14 | |||
| 15 | #include "crocoddyl/core/cost-base.hpp" | ||
| 16 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | /** | ||
| 21 | * @brief This class computes the numerical differentiation of a cost model. | ||
| 22 | * | ||
| 23 | * It computes the Jacobian and Hessian of the cost model via numerical | ||
| 24 | * differentiation, i.e., \f$\mathbf{\ell_x}\f$, \f$\mathbf{\ell_u}\f$, | ||
| 25 | * \f$\mathbf{\ell_{xx}}\f$, \f$\mathbf{\ell_{uu}}\f$, and | ||
| 26 | * \f$\mathbf{\ell_{xu}}\f$ which denote the Jacobians and Hessians of the cost | ||
| 27 | * function, respectively. | ||
| 28 | * | ||
| 29 | * \sa `CostModelAbstractTpl()`, `calcDiff()` | ||
| 30 | */ | ||
| 31 | template <typename _Scalar> | ||
| 32 | class CostModelNumDiffTpl : public CostModelAbstractTpl<_Scalar> { | ||
| 33 | public: | ||
| 34 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 35 | ✗ | CROCODDYL_DERIVED_CAST(CostModelBase, CostModelNumDiffTpl) | |
| 36 | |||
| 37 | typedef _Scalar Scalar; | ||
| 38 | typedef CostDataAbstractTpl<Scalar> CostDataAbstract; | ||
| 39 | typedef CostModelAbstractTpl<Scalar> Base; | ||
| 40 | typedef CostDataNumDiffTpl<Scalar> Data; | ||
| 41 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 42 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 43 | typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs; | ||
| 44 | typedef typename MathBaseTpl<Scalar>::MatrixXs MatrixXs; | ||
| 45 | typedef boost::function<void(const VectorXs&, const VectorXs&)> | ||
| 46 | ReevaluationFunction; | ||
| 47 | |||
| 48 | /** | ||
| 49 | * @brief Initialize the numdiff cost model | ||
| 50 | * | ||
| 51 | * @param model Cost model that we want to apply the numerical | ||
| 52 | * differentiation | ||
| 53 | */ | ||
| 54 | explicit CostModelNumDiffTpl(const std::shared_ptr<Base>& model); | ||
| 55 | |||
| 56 | /** | ||
| 57 | * @brief Initialize the numdiff cost model | ||
| 58 | */ | ||
| 59 | ✗ | virtual ~CostModelNumDiffTpl() = default; | |
| 60 | |||
| 61 | /** | ||
| 62 | * @brief @copydoc Base::calc() | ||
| 63 | */ | ||
| 64 | virtual void calc(const std::shared_ptr<CostDataAbstract>& data, | ||
| 65 | const Eigen::Ref<const VectorXs>& x, | ||
| 66 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 67 | |||
| 68 | /** | ||
| 69 | * @brief @copydoc Base::calc(const std::shared_ptr<CostDataAbstract>& data, | ||
| 70 | * const Eigen::Ref<const VectorXs>& x) | ||
| 71 | */ | ||
| 72 | virtual void calc(const std::shared_ptr<CostDataAbstract>& data, | ||
| 73 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 74 | |||
| 75 | /** | ||
| 76 | * @brief @copydoc Base::calcDiff() | ||
| 77 | */ | ||
| 78 | virtual void calcDiff(const std::shared_ptr<CostDataAbstract>& data, | ||
| 79 | const Eigen::Ref<const VectorXs>& x, | ||
| 80 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 81 | |||
| 82 | /** | ||
| 83 | * @brief @copydoc Base::calcDiff(const std::shared_ptr<CostDataAbstract>& | ||
| 84 | * data, const Eigen::Ref<const VectorXs>& x) | ||
| 85 | */ | ||
| 86 | virtual void calcDiff(const std::shared_ptr<CostDataAbstract>& data, | ||
| 87 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 88 | |||
| 89 | /** | ||
| 90 | * @brief Create a numdiff cost data | ||
| 91 | * | ||
| 92 | * @param data Data collector used by the original model | ||
| 93 | * @return the numdiff cost data | ||
| 94 | */ | ||
| 95 | virtual std::shared_ptr<CostDataAbstract> createData( | ||
| 96 | DataCollectorAbstract* const data) override; | ||
| 97 | |||
| 98 | /** | ||
| 99 | * @brief Cast the cost numdiff model to a different scalar type. | ||
| 100 | * | ||
| 101 | * It is useful for operations requiring different precision or scalar types. | ||
| 102 | * | ||
| 103 | * @tparam NewScalar The new scalar type to cast to. | ||
| 104 | * @return CostModelNumDiffTpl<NewScalar> A cost model with the | ||
| 105 | * new scalar type. | ||
| 106 | */ | ||
| 107 | template <typename NewScalar> | ||
| 108 | CostModelNumDiffTpl<NewScalar> cast() const; | ||
| 109 | |||
| 110 | /** | ||
| 111 | * @brief Return the original cost model | ||
| 112 | */ | ||
| 113 | const std::shared_ptr<Base>& get_model() const; | ||
| 114 | |||
| 115 | /** | ||
| 116 | * @brief Return the disturbance constant used by the numerical | ||
| 117 | * differentiation routine | ||
| 118 | */ | ||
| 119 | const Scalar get_disturbance() const; | ||
| 120 | |||
| 121 | /** | ||
| 122 | * @brief Modify the disturbance constant used by the numerical | ||
| 123 | * differentiation routine | ||
| 124 | */ | ||
| 125 | void set_disturbance(const Scalar disturbance); | ||
| 126 | |||
| 127 | /** | ||
| 128 | * @brief Identify if the Gauss approximation is going to be used or not. | ||
| 129 | * | ||
| 130 | * @return true | ||
| 131 | * @return false | ||
| 132 | */ | ||
| 133 | bool get_with_gauss_approx(); | ||
| 134 | |||
| 135 | /** | ||
| 136 | * @brief Register functions that updates the shared data computed for a | ||
| 137 | * system rollout The updated data is used to evaluate of the gradient and | ||
| 138 | * Hessian. | ||
| 139 | * | ||
| 140 | * @param reevals are the registered functions. | ||
| 141 | */ | ||
| 142 | void set_reevals(const std::vector<ReevaluationFunction>& reevals); | ||
| 143 | |||
| 144 | protected: | ||
| 145 | using Base::activation_; | ||
| 146 | using Base::nu_; | ||
| 147 | using Base::state_; | ||
| 148 | using Base::unone_; | ||
| 149 | |||
| 150 | private: | ||
| 151 | /** | ||
| 152 | * @brief Make sure that when we finite difference the Cost Model, the user | ||
| 153 | * does not face unknown behaviour because of the finite differencing of a | ||
| 154 | * quaternion around pi. This behaviour might occur if state cost in and | ||
| 155 | * floating systems. | ||
| 156 | * | ||
| 157 | * For full discussions see issue | ||
| 158 | * https://gepgitlab.laas.fr/loco-3d/crocoddyl/issues/139 | ||
| 159 | * | ||
| 160 | * @param x is the state at which the check is performed. | ||
| 161 | */ | ||
| 162 | void assertStableStateFD(const Eigen::Ref<const VectorXs>& /*x*/); | ||
| 163 | |||
| 164 | std::shared_ptr<Base> model_; //!< Cost model hat we want to apply the | ||
| 165 | //!< numerical differentiation | ||
| 166 | Scalar e_jac_; //!< Constant used for computing disturbances in Jacobian | ||
| 167 | //!< calculation | ||
| 168 | std::vector<ReevaluationFunction> | ||
| 169 | reevals_; //!< Functions that needs execution before calc or calcDiff | ||
| 170 | }; | ||
| 171 | |||
| 172 | template <typename _Scalar> | ||
| 173 | struct CostDataNumDiffTpl : public CostDataAbstractTpl<_Scalar> { | ||
| 174 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 175 | |||
| 176 | typedef _Scalar Scalar; | ||
| 177 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 178 | typedef CostDataAbstractTpl<Scalar> Base; | ||
| 179 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 180 | typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract; | ||
| 181 | typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs; | ||
| 182 | |||
| 183 | /** | ||
| 184 | * @brief Initialize the numdiff cost data | ||
| 185 | * | ||
| 186 | * @tparam Model is the type of the `CostModelAbstractTpl`. | ||
| 187 | * @param model is the object to compute the numerical differentiation from. | ||
| 188 | */ | ||
| 189 | template <template <typename Scalar> class Model> | ||
| 190 | ✗ | explicit CostDataNumDiffTpl(Model<Scalar>* const model, | |
| 191 | DataCollectorAbstract* const shared_data) | ||
| 192 | : Base(model, shared_data), | ||
| 193 | ✗ | dx(model->get_state()->get_ndx()), | |
| 194 | ✗ | xp(model->get_state()->get_nx()), | |
| 195 | ✗ | du(model->get_nu()), | |
| 196 | ✗ | up(model->get_nu()) { | |
| 197 | ✗ | dx.setZero(); | |
| 198 | ✗ | xp.setZero(); | |
| 199 | ✗ | du.setZero(); | |
| 200 | ✗ | up.setZero(); | |
| 201 | |||
| 202 | ✗ | const std::size_t ndx = model->get_model()->get_state()->get_ndx(); | |
| 203 | ✗ | const std::size_t nu = model->get_model()->get_nu(); | |
| 204 | ✗ | data_0 = model->get_model()->createData(shared_data); | |
| 205 | ✗ | for (std::size_t i = 0; i < ndx; ++i) { | |
| 206 | ✗ | data_x.push_back(model->get_model()->createData(shared_data)); | |
| 207 | } | ||
| 208 | ✗ | for (std::size_t i = 0; i < nu; ++i) { | |
| 209 | ✗ | data_u.push_back(model->get_model()->createData(shared_data)); | |
| 210 | } | ||
| 211 | ✗ | } | |
| 212 | |||
| 213 | ✗ | virtual ~CostDataNumDiffTpl() = default; | |
| 214 | |||
| 215 | using Base::activation; | ||
| 216 | using Base::cost; | ||
| 217 | using Base::Lu; | ||
| 218 | using Base::Luu; | ||
| 219 | using Base::Lx; | ||
| 220 | using Base::Lxu; | ||
| 221 | using Base::Lxx; | ||
| 222 | using Base::residual; | ||
| 223 | using Base::shared; | ||
| 224 | |||
| 225 | Scalar x_norm; //!< Norm of the state vector | ||
| 226 | Scalar | ||
| 227 | xh_jac; //!< Disturbance value used for computing \f$ \ell_\mathbf{x} \f$ | ||
| 228 | Scalar | ||
| 229 | uh_jac; //!< Disturbance value used for computing \f$ \ell_\mathbf{u} \f$ | ||
| 230 | VectorXs dx; //!< State disturbance. | ||
| 231 | VectorXs xp; //!< The integrated state from the disturbance on one DoF "\f$ | ||
| 232 | //!< \int x dx_i \f$". | ||
| 233 | VectorXs du; //!< Control disturbance. | ||
| 234 | VectorXs up; //!< The integrated control from the disturbance on one DoF "\f$ | ||
| 235 | //!< \int u du_i = u + du \f$". | ||
| 236 | std::shared_ptr<Base> data_0; //!< The data at the approximation point. | ||
| 237 | std::vector<std::shared_ptr<Base> > | ||
| 238 | data_x; //!< The temporary data associated with the state variation. | ||
| 239 | std::vector<std::shared_ptr<Base> > | ||
| 240 | data_u; //!< The temporary data associated with the control variation. | ||
| 241 | }; | ||
| 242 | |||
| 243 | } // namespace crocoddyl | ||
| 244 | |||
| 245 | /* --- Details -------------------------------------------------------------- */ | ||
| 246 | /* --- Details -------------------------------------------------------------- */ | ||
| 247 | /* --- Details -------------------------------------------------------------- */ | ||
| 248 | #include "crocoddyl/core/numdiff/cost.hxx" | ||
| 249 | |||
| 250 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::CostModelNumDiffTpl) | ||
| 251 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::CostDataNumDiffTpl) | ||
| 252 | |||
| 253 | #endif // CROCODDYL_CORE_NUMDIFF_COST_HPP_ | ||
| 254 |