| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 | namespace crocoddyl { | ||
| 11 | |||
| 12 | template <typename Scalar> | ||
| 13 | ✗ | StateVectorTpl<Scalar>::StateVectorTpl(const std::size_t nx) | |
| 14 | ✗ | : StateAbstractTpl<Scalar>(nx, nx) {} | |
| 15 | |||
| 16 | template <typename Scalar> | ||
| 17 | ✗ | StateVectorTpl<Scalar>::~StateVectorTpl() {} | |
| 18 | |||
| 19 | template <typename Scalar> | ||
| 20 | ✗ | typename MathBaseTpl<Scalar>::VectorXs StateVectorTpl<Scalar>::zero() const { | |
| 21 | ✗ | return VectorXs::Zero(nx_); | |
| 22 | } | ||
| 23 | |||
| 24 | template <typename Scalar> | ||
| 25 | ✗ | typename MathBaseTpl<Scalar>::VectorXs StateVectorTpl<Scalar>::rand() const { | |
| 26 | ✗ | return VectorXs::Random(nx_); | |
| 27 | } | ||
| 28 | |||
| 29 | template <typename Scalar> | ||
| 30 | ✗ | void StateVectorTpl<Scalar>::diff(const Eigen::Ref<const VectorXs>& x0, | |
| 31 | const Eigen::Ref<const VectorXs>& x1, | ||
| 32 | Eigen::Ref<VectorXs> dxout) const { | ||
| 33 | ✗ | if (static_cast<std::size_t>(x0.size()) != nx_) { | |
| 34 | ✗ | throw_pretty( | |
| 35 | "Invalid argument: " << "x0 has wrong dimension (it should be " + | ||
| 36 | std::to_string(nx_) + ")"); | ||
| 37 | } | ||
| 38 | ✗ | if (static_cast<std::size_t>(x1.size()) != nx_) { | |
| 39 | ✗ | throw_pretty( | |
| 40 | "Invalid argument: " << "x1 has wrong dimension (it should be " + | ||
| 41 | std::to_string(nx_) + ")"); | ||
| 42 | } | ||
| 43 | ✗ | if (static_cast<std::size_t>(dxout.size()) != ndx_) { | |
| 44 | ✗ | throw_pretty( | |
| 45 | "Invalid argument: " << "dxout has wrong dimension (it should be " + | ||
| 46 | std::to_string(ndx_) + ")"); | ||
| 47 | } | ||
| 48 | ✗ | dxout = x1 - x0; | |
| 49 | ✗ | } | |
| 50 | |||
| 51 | template <typename Scalar> | ||
| 52 | ✗ | void StateVectorTpl<Scalar>::integrate(const Eigen::Ref<const VectorXs>& x, | |
| 53 | const Eigen::Ref<const VectorXs>& dx, | ||
| 54 | Eigen::Ref<VectorXs> xout) const { | ||
| 55 | ✗ | if (static_cast<std::size_t>(x.size()) != nx_) { | |
| 56 | ✗ | throw_pretty( | |
| 57 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 58 | std::to_string(nx_) + ")"); | ||
| 59 | } | ||
| 60 | ✗ | if (static_cast<std::size_t>(dx.size()) != ndx_) { | |
| 61 | ✗ | throw_pretty( | |
| 62 | "Invalid argument: " << "dx has wrong dimension (it should be " + | ||
| 63 | std::to_string(ndx_) + ")"); | ||
| 64 | } | ||
| 65 | ✗ | if (static_cast<std::size_t>(xout.size()) != nx_) { | |
| 66 | ✗ | throw_pretty( | |
| 67 | "Invalid argument: " << "xout has wrong dimension (it should be " + | ||
| 68 | std::to_string(nx_) + ")"); | ||
| 69 | } | ||
| 70 | ✗ | xout = x + dx; | |
| 71 | ✗ | } | |
| 72 | |||
| 73 | template <typename Scalar> | ||
| 74 | ✗ | void StateVectorTpl<Scalar>::Jdiff(const Eigen::Ref<const VectorXs>&, | |
| 75 | const Eigen::Ref<const VectorXs>&, | ||
| 76 | Eigen::Ref<MatrixXs> Jfirst, | ||
| 77 | Eigen::Ref<MatrixXs> Jsecond, | ||
| 78 | const Jcomponent firstsecond) const { | ||
| 79 | ✗ | assert_pretty( | |
| 80 | is_a_Jcomponent(firstsecond), | ||
| 81 | ("firstsecond must be one of the Jcomponent {both, first, second}")); | ||
| 82 | ✗ | if (firstsecond == first || firstsecond == both) { | |
| 83 | ✗ | if (static_cast<std::size_t>(Jfirst.rows()) != ndx_ || | |
| 84 | ✗ | static_cast<std::size_t>(Jfirst.cols()) != ndx_) { | |
| 85 | ✗ | throw_pretty( | |
| 86 | "Invalid argument: " << "Jfirst has wrong dimension (it should be " + | ||
| 87 | std::to_string(ndx_) + "," + | ||
| 88 | std::to_string(ndx_) + ")"); | ||
| 89 | } | ||
| 90 | ✗ | Jfirst.setZero(); | |
| 91 | ✗ | Jfirst.diagonal() = MathBase::VectorXs::Constant(ndx_, Scalar(-1.)); | |
| 92 | } | ||
| 93 | ✗ | if (firstsecond == second || firstsecond == both) { | |
| 94 | ✗ | if (static_cast<std::size_t>(Jsecond.rows()) != ndx_ || | |
| 95 | ✗ | static_cast<std::size_t>(Jsecond.cols()) != ndx_) { | |
| 96 | ✗ | throw_pretty( | |
| 97 | "Invalid argument: " << "Jsecond has wrong dimension (it should be " + | ||
| 98 | std::to_string(ndx_) + "," + | ||
| 99 | std::to_string(ndx_) + ")"); | ||
| 100 | } | ||
| 101 | ✗ | Jsecond.setZero(); | |
| 102 | ✗ | Jsecond.diagonal() = MathBase::VectorXs::Constant(ndx_, Scalar(1.)); | |
| 103 | } | ||
| 104 | ✗ | } | |
| 105 | |||
| 106 | template <typename Scalar> | ||
| 107 | ✗ | void StateVectorTpl<Scalar>::Jintegrate(const Eigen::Ref<const VectorXs>&, | |
| 108 | const Eigen::Ref<const VectorXs>&, | ||
| 109 | Eigen::Ref<MatrixXs> Jfirst, | ||
| 110 | Eigen::Ref<MatrixXs> Jsecond, | ||
| 111 | const Jcomponent firstsecond, | ||
| 112 | const AssignmentOp op) const { | ||
| 113 | ✗ | assert_pretty( | |
| 114 | is_a_Jcomponent(firstsecond), | ||
| 115 | ("firstsecond must be one of the Jcomponent {both, first, second}")); | ||
| 116 | ✗ | assert_pretty(is_a_AssignmentOp(op), | |
| 117 | ("op must be one of the AssignmentOp {settop, addto, rmfrom}")); | ||
| 118 | ✗ | if (firstsecond == first || firstsecond == both) { | |
| 119 | ✗ | if (static_cast<std::size_t>(Jfirst.rows()) != ndx_ || | |
| 120 | ✗ | static_cast<std::size_t>(Jfirst.cols()) != ndx_) { | |
| 121 | ✗ | throw_pretty( | |
| 122 | "Invalid argument: " << "Jfirst has wrong dimension (it should be " + | ||
| 123 | std::to_string(ndx_) + "," + | ||
| 124 | std::to_string(ndx_) + ")"); | ||
| 125 | } | ||
| 126 | ✗ | switch (op) { | |
| 127 | ✗ | case setto: | |
| 128 | ✗ | Jfirst.diagonal().array() = Scalar(1.); | |
| 129 | ✗ | break; | |
| 130 | ✗ | case addto: | |
| 131 | ✗ | Jfirst.diagonal().array() += Scalar(1.); | |
| 132 | ✗ | break; | |
| 133 | ✗ | case rmfrom: | |
| 134 | ✗ | Jfirst.diagonal().array() -= Scalar(1.); | |
| 135 | ✗ | break; | |
| 136 | ✗ | default: | |
| 137 | ✗ | throw_pretty( | |
| 138 | "Invalid argument: allowed operators: setto, addto, rmfrom"); | ||
| 139 | break; | ||
| 140 | } | ||
| 141 | } | ||
| 142 | ✗ | if (firstsecond == second || firstsecond == both) { | |
| 143 | ✗ | if (static_cast<std::size_t>(Jsecond.rows()) != ndx_ || | |
| 144 | ✗ | static_cast<std::size_t>(Jsecond.cols()) != ndx_) { | |
| 145 | ✗ | throw_pretty( | |
| 146 | "Invalid argument: " << "Jsecond has wrong dimension (it should be " + | ||
| 147 | std::to_string(ndx_) + "," + | ||
| 148 | std::to_string(ndx_) + ")"); | ||
| 149 | } | ||
| 150 | ✗ | switch (op) { | |
| 151 | ✗ | case setto: | |
| 152 | ✗ | Jsecond.diagonal().array() = Scalar(1.); | |
| 153 | ✗ | break; | |
| 154 | ✗ | case addto: | |
| 155 | ✗ | Jsecond.diagonal().array() += Scalar(1.); | |
| 156 | ✗ | break; | |
| 157 | ✗ | case rmfrom: | |
| 158 | ✗ | Jsecond.diagonal().array() -= Scalar(1.); | |
| 159 | ✗ | break; | |
| 160 | ✗ | default: | |
| 161 | ✗ | throw_pretty( | |
| 162 | "Invalid argument: allowed operators: setto, addto, rmfrom"); | ||
| 163 | break; | ||
| 164 | } | ||
| 165 | } | ||
| 166 | ✗ | } | |
| 167 | |||
| 168 | template <typename Scalar> | ||
| 169 | ✗ | void StateVectorTpl<Scalar>::JintegrateTransport( | |
| 170 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&, | ||
| 171 | Eigen::Ref<MatrixXs>, const Jcomponent firstsecond) const { | ||
| 172 | ✗ | assert_pretty(is_a_Jcomponent(firstsecond), ("")); | |
| 173 | ✗ | if (firstsecond != first && firstsecond != second) { | |
| 174 | ✗ | throw_pretty( | |
| 175 | "Invalid argument: firstsecond must be either first or second. both " | ||
| 176 | "not supported for this operation."); | ||
| 177 | } | ||
| 178 | ✗ | } | |
| 179 | |||
| 180 | template <typename Scalar> | ||
| 181 | template <typename NewScalar> | ||
| 182 | ✗ | StateVectorTpl<NewScalar> StateVectorTpl<Scalar>::cast() const { | |
| 183 | typedef StateVectorTpl<NewScalar> ReturnType; | ||
| 184 | ✗ | ReturnType res(nx_); | |
| 185 | ✗ | return res; | |
| 186 | } | ||
| 187 | |||
| 188 | template <typename Scalar> | ||
| 189 | ✗ | void StateVectorTpl<Scalar>::print(std::ostream& os) const { | |
| 190 | ✗ | os << "StateVector {nx=" << nx_ << "}"; | |
| 191 | ✗ | } | |
| 192 | |||
| 193 | } // namespace crocoddyl | ||
| 194 |