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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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StateVectorTpl<Scalar>::StateVectorTpl(const std::size_t nx) |
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: StateAbstractTpl<Scalar>(nx, nx) {} |
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template <typename Scalar> |
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StateVectorTpl<Scalar>::~StateVectorTpl() {} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::VectorXs StateVectorTpl<Scalar>::zero() const { |
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return VectorXs::Zero(nx_); |
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} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::VectorXs StateVectorTpl<Scalar>::rand() const { |
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return VectorXs::Random(nx_); |
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} |
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template <typename Scalar> |
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void StateVectorTpl<Scalar>::diff(const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1, |
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Eigen::Ref<VectorXs> dxout) const { |
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if (static_cast<std::size_t>(x0.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x0 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(x1.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x1 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(dxout.size()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "dxout has wrong dimension (it should be " + |
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std::to_string(ndx_) + ")"); |
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} |
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dxout = x1 - x0; |
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} |
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template <typename Scalar> |
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void StateVectorTpl<Scalar>::integrate(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<VectorXs> xout) const { |
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if (static_cast<std::size_t>(x.size()) != 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(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(dx.size()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "dx has wrong dimension (it should be " + |
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std::to_string(ndx_) + ")"); |
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} |
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if (static_cast<std::size_t>(xout.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "xout has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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xout = x + dx; |
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} |
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template <typename Scalar> |
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void StateVectorTpl<Scalar>::Jdiff(const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&, |
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Eigen::Ref<MatrixXs> Jfirst, |
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Eigen::Ref<MatrixXs> Jsecond, |
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const Jcomponent firstsecond) const { |
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assert_pretty( |
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is_a_Jcomponent(firstsecond), |
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("firstsecond must be one of the Jcomponent {both, first, second}")); |
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if (firstsecond == first || firstsecond == both) { |
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if (static_cast<std::size_t>(Jfirst.rows()) != ndx_ || |
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static_cast<std::size_t>(Jfirst.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jfirst has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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Jfirst.setZero(); |
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Jfirst.diagonal() = MathBase::VectorXs::Constant(ndx_, Scalar(-1.)); |
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} |
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if (firstsecond == second || firstsecond == both) { |
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if (static_cast<std::size_t>(Jsecond.rows()) != ndx_ || |
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static_cast<std::size_t>(Jsecond.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jsecond has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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Jsecond.setZero(); |
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Jsecond.diagonal() = MathBase::VectorXs::Constant(ndx_, Scalar(1.)); |
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} |
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} |
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template <typename Scalar> |
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void StateVectorTpl<Scalar>::Jintegrate(const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&, |
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Eigen::Ref<MatrixXs> Jfirst, |
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Eigen::Ref<MatrixXs> Jsecond, |
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const Jcomponent firstsecond, |
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const AssignmentOp op) const { |
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assert_pretty( |
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is_a_Jcomponent(firstsecond), |
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("firstsecond must be one of the Jcomponent {both, first, second}")); |
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assert_pretty(is_a_AssignmentOp(op), |
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("op must be one of the AssignmentOp {settop, addto, rmfrom}")); |
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if (firstsecond == first || firstsecond == both) { |
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if (static_cast<std::size_t>(Jfirst.rows()) != ndx_ || |
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static_cast<std::size_t>(Jfirst.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jfirst has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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switch (op) { |
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case setto: |
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Jfirst.diagonal().array() = Scalar(1.); |
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break; |
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case addto: |
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Jfirst.diagonal().array() += Scalar(1.); |
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break; |
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case rmfrom: |
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Jfirst.diagonal().array() -= Scalar(1.); |
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break; |
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default: |
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throw_pretty( |
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"Invalid argument: allowed operators: setto, addto, rmfrom"); |
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break; |
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} |
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} |
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if (firstsecond == second || firstsecond == both) { |
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if (static_cast<std::size_t>(Jsecond.rows()) != ndx_ || |
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static_cast<std::size_t>(Jsecond.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jsecond has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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switch (op) { |
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case setto: |
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Jsecond.diagonal().array() = Scalar(1.); |
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break; |
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case addto: |
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Jsecond.diagonal().array() += Scalar(1.); |
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break; |
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case rmfrom: |
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Jsecond.diagonal().array() -= Scalar(1.); |
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break; |
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default: |
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throw_pretty( |
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"Invalid argument: allowed operators: setto, addto, rmfrom"); |
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break; |
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} |
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} |
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} |
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template <typename Scalar> |
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void StateVectorTpl<Scalar>::JintegrateTransport( |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&, |
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Eigen::Ref<MatrixXs>, const Jcomponent firstsecond) const { |
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assert_pretty(is_a_Jcomponent(firstsecond), ("")); |
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if (firstsecond != first && firstsecond != second) { |
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throw_pretty( |
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"Invalid argument: firstsecond must be either first or second. both " |
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"not supported for this operation."); |
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} |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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StateVectorTpl<NewScalar> StateVectorTpl<Scalar>::cast() const { |
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typedef StateVectorTpl<NewScalar> ReturnType; |
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ReturnType res(nx_); |
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return res; |
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} |
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template <typename Scalar> |
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void StateVectorTpl<Scalar>::print(std::ostream& os) const { |
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os << "StateVector {nx=" << nx_ << "}"; |
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} |
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} // namespace crocoddyl |
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