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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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// University of Oxford, 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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DifferentialActionModelAbstractTpl<Scalar>::DifferentialActionModelAbstractTpl( |
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std::shared_ptr<StateAbstract> state, const std::size_t nu, |
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const std::size_t nr, const std::size_t ng, const std::size_t nh, |
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const std::size_t ng_T, const std::size_t nh_T) |
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: nu_(nu), |
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nr_(nr), |
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ng_(ng), |
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nh_(nh), |
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ng_T_(ng_T), |
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nh_T_(nh_T), |
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state_(state), |
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unone_(VectorXs::Zero(nu)), |
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g_lb_(VectorXs::Constant(ng > ng_T ? ng : ng_T, |
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-std::numeric_limits<Scalar>::infinity())), |
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g_ub_(VectorXs::Constant(ng > ng_T ? ng : ng_T, |
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std::numeric_limits<Scalar>::infinity())), |
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u_lb_(VectorXs::Constant(nu, -std::numeric_limits<Scalar>::infinity())), |
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u_ub_(VectorXs::Constant(nu, std::numeric_limits<Scalar>::infinity())), |
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has_control_limits_(false) {} |
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template <typename Scalar> |
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void DifferentialActionModelAbstractTpl<Scalar>::calc( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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calc(data, x, unone_); |
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} |
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template <typename Scalar> |
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void DifferentialActionModelAbstractTpl<Scalar>::calcDiff( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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calcDiff(data, x, unone_); |
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} |
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template <typename Scalar> |
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void DifferentialActionModelAbstractTpl<Scalar>::quasiStatic( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x, |
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const std::size_t maxiter, const Scalar tol) { |
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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 (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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// Check the velocity input is zero |
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assert_pretty(x.tail(state_->get_nv()).isZero(), |
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"The velocity input should be zero for quasi-static to work."); |
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if (nu_ != 0) { |
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VectorXs du = VectorXs::Zero(nu_); |
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for (std::size_t i = 0; i < maxiter; ++i) { |
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calc(data, x, u); |
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calcDiff(data, x, u); |
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du.noalias() = -pseudoInverse(data->Fu) * data->xout; |
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u += du; |
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if (du.norm() <= tol) { |
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break; |
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} |
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} |
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} |
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} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::VectorXs |
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DifferentialActionModelAbstractTpl<Scalar>::quasiStatic_x( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const VectorXs& x, const std::size_t maxiter, const Scalar tol) { |
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VectorXs u(nu_); |
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u.setZero(); |
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quasiStatic(data, u, x, maxiter, tol); |
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return u; |
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} |
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template <typename Scalar> |
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std::shared_ptr<DifferentialActionDataAbstractTpl<Scalar> > |
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DifferentialActionModelAbstractTpl<Scalar>::createData() { |
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return std::allocate_shared<DifferentialActionDataAbstract>( |
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Eigen::aligned_allocator<DifferentialActionDataAbstract>(), this); |
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} |
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template <typename Scalar> |
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bool DifferentialActionModelAbstractTpl<Scalar>::checkData( |
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const std::shared_ptr<DifferentialActionDataAbstract>&) { |
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return false; |
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} |
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template <typename Scalar> |
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void DifferentialActionModelAbstractTpl<Scalar>::print(std::ostream& os) const { |
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os << boost::core::demangle(typeid(*this).name()); |
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} |
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template <typename Scalar> |
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std::size_t DifferentialActionModelAbstractTpl<Scalar>::get_nu() const { |
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return nu_; |
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} |
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template <typename Scalar> |
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std::size_t DifferentialActionModelAbstractTpl<Scalar>::get_nr() const { |
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return nr_; |
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} |
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template <typename Scalar> |
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std::size_t DifferentialActionModelAbstractTpl<Scalar>::get_ng() const { |
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return ng_; |
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} |
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template <typename Scalar> |
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std::size_t DifferentialActionModelAbstractTpl<Scalar>::get_nh() const { |
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return nh_; |
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} |
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template <typename Scalar> |
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std::size_t DifferentialActionModelAbstractTpl<Scalar>::get_ng_T() const { |
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return ng_T_; |
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} |
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template <typename Scalar> |
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std::size_t DifferentialActionModelAbstractTpl<Scalar>::get_nh_T() const { |
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return nh_T_; |
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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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DifferentialActionModelAbstractTpl<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 MathBaseTpl<Scalar>::VectorXs& |
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DifferentialActionModelAbstractTpl<Scalar>::get_g_lb() const { |
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return g_lb_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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DifferentialActionModelAbstractTpl<Scalar>::get_g_ub() const { |
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return g_ub_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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DifferentialActionModelAbstractTpl<Scalar>::get_u_lb() const { |
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return u_lb_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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DifferentialActionModelAbstractTpl<Scalar>::get_u_ub() const { |
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return u_ub_; |
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} |
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template <typename Scalar> |
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bool DifferentialActionModelAbstractTpl<Scalar>::get_has_control_limits() |
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const { |
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return has_control_limits_; |
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} |
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template <typename Scalar> |
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void DifferentialActionModelAbstractTpl<Scalar>::set_g_lb( |
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const VectorXs& g_lb) { |
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const std::size_t ng = ng_ > ng_T_ ? ng_ : ng_T_; |
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if (static_cast<std::size_t>(g_lb.size()) != ng) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "inequality lower bound has wrong dimension (it should be " + |
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std::to_string(ng) + ")"); |
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} |
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g_lb_ = g_lb; |
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} |
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template <typename Scalar> |
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void DifferentialActionModelAbstractTpl<Scalar>::set_g_ub( |
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const VectorXs& g_ub) { |
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const std::size_t ng = ng_ > ng_T_ ? ng_ : ng_T_; |
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if (static_cast<std::size_t>(g_ub.size()) != ng) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "inequality upper bound has wrong dimension (it should be " + |
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std::to_string(ng_) + ")"); |
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} |
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g_ub_ = g_ub; |
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} |
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template <typename Scalar> |
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void DifferentialActionModelAbstractTpl<Scalar>::set_u_lb( |
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const VectorXs& u_lb) { |
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if (static_cast<std::size_t>(u_lb.size()) != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "lower bound has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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u_lb_ = u_lb; |
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update_has_control_limits(); |
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} |
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template <typename Scalar> |
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void DifferentialActionModelAbstractTpl<Scalar>::set_u_ub( |
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const VectorXs& u_ub) { |
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if (static_cast<std::size_t>(u_ub.size()) != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "upper bound has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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u_ub_ = u_ub; |
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update_has_control_limits(); |
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} |
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template <typename Scalar> |
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void DifferentialActionModelAbstractTpl<Scalar>::update_has_control_limits() { |
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has_control_limits_ = |
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isfinite(u_lb_.template cast<ScalarType>().array()).any() && |
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isfinite(u_ub_.template cast<ScalarType>().array()).any(); |
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} |
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template <typename Scalar> |
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std::ostream& operator<<( |
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std::ostream& os, const DifferentialActionModelAbstractTpl<Scalar>& model) { |
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model.print(os); |
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return os; |
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} |
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} // namespace crocoddyl |
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