| Directory: | ./ |
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| File: | include/crocoddyl/core/integrator/euler.hpp |
| Date: | 2025-03-26 19:23:43 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // University of Oxford, Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_CORE_INTEGRATOR_EULER_HPP_ | ||
| 11 | #define CROCODDYL_CORE_INTEGRATOR_EULER_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/fwd.hpp" | ||
| 14 | #include "crocoddyl/core/integ-action-base.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | |||
| 18 | /** | ||
| 19 | * @brief Symplectic Euler integrator | ||
| 20 | * | ||
| 21 | * It applies a symplectic Euler integration scheme to a differential (i.e., | ||
| 22 | * continuous time) action model. | ||
| 23 | * | ||
| 24 | * This symplectic Euler scheme introduces also the possibility to parametrize | ||
| 25 | * the control trajectory inside an integration step, for instance using | ||
| 26 | * polynomials. This requires introducing some notation to clarify the | ||
| 27 | * difference between the control inputs of the differential model and the | ||
| 28 | * control inputs to the integrated model. We have decided to use | ||
| 29 | * \f$\mathbf{w}\f$ to refer to the control inputs of the differential model and | ||
| 30 | * \f$\mathbf{u}\f$ for the control inputs of the integrated action model. Note | ||
| 31 | * that the zero-order (e.g., `ControlParametrizationModelPolyZeroTpl`) are the | ||
| 32 | * only ones that make sense to use within this integrator. | ||
| 33 | * | ||
| 34 | * \sa `calc()`, `calcDiff()`, `createData()` | ||
| 35 | */ | ||
| 36 | template <typename _Scalar> | ||
| 37 | class IntegratedActionModelEulerTpl | ||
| 38 | : public IntegratedActionModelAbstractTpl<_Scalar> { | ||
| 39 | public: | ||
| 40 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 41 | ✗ | CROCODDYL_DERIVED_CAST(ActionModelBase, IntegratedActionModelEulerTpl) | |
| 42 | |||
| 43 | typedef _Scalar Scalar; | ||
| 44 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 45 | typedef IntegratedActionModelAbstractTpl<Scalar> Base; | ||
| 46 | typedef IntegratedActionDataEulerTpl<Scalar> Data; | ||
| 47 | typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract; | ||
| 48 | typedef DifferentialActionModelAbstractTpl<Scalar> | ||
| 49 | DifferentialActionModelAbstract; | ||
| 50 | typedef ControlParametrizationModelAbstractTpl<Scalar> | ||
| 51 | ControlParametrizationModelAbstract; | ||
| 52 | typedef ControlParametrizationDataAbstractTpl<Scalar> | ||
| 53 | ControlParametrizationDataAbstract; | ||
| 54 | typedef typename MathBase::VectorXs VectorXs; | ||
| 55 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 56 | |||
| 57 | /** | ||
| 58 | * @brief Initialize the symplectic Euler integrator | ||
| 59 | * | ||
| 60 | * @param[in] model Differential action model | ||
| 61 | * @param[in] control Control parametrization | ||
| 62 | * @param[in] time_step Step time (default 1e-3) | ||
| 63 | * @param[in] with_cost_residual Compute cost residual (default true) | ||
| 64 | */ | ||
| 65 | IntegratedActionModelEulerTpl( | ||
| 66 | std::shared_ptr<DifferentialActionModelAbstract> model, | ||
| 67 | std::shared_ptr<ControlParametrizationModelAbstract> control, | ||
| 68 | const Scalar time_step = Scalar(1e-3), | ||
| 69 | const bool with_cost_residual = true); | ||
| 70 | |||
| 71 | /** | ||
| 72 | * @brief Initialize the symplectic Euler integrator | ||
| 73 | * | ||
| 74 | * This initialization uses `ControlParametrizationPolyZeroTpl` for the | ||
| 75 | * control parametrization. | ||
| 76 | * | ||
| 77 | * @param[in] model Differential action model | ||
| 78 | * @param[in] time_step Step time (default 1e-3) | ||
| 79 | * @param[in] with_cost_residual Compute cost residual (default true) | ||
| 80 | */ | ||
| 81 | IntegratedActionModelEulerTpl( | ||
| 82 | std::shared_ptr<DifferentialActionModelAbstract> model, | ||
| 83 | const Scalar time_step = Scalar(1e-3), | ||
| 84 | const bool with_cost_residual = true); | ||
| 85 | 522 | virtual ~IntegratedActionModelEulerTpl() = default; | |
| 86 | |||
| 87 | /** | ||
| 88 | * @brief Integrate the differential action model using symplectic Euler | ||
| 89 | * scheme | ||
| 90 | * | ||
| 91 | * @param[in] data Symplectic Euler data | ||
| 92 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 93 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 94 | */ | ||
| 95 | virtual void calc(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 96 | const Eigen::Ref<const VectorXs>& x, | ||
| 97 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 98 | |||
| 99 | /** | ||
| 100 | * @brief Integrate the total cost value for nodes that depends only on the | ||
| 101 | * state using symplectic Euler scheme | ||
| 102 | * | ||
| 103 | * It computes the total cost and defines the next state as the current one. | ||
| 104 | * This function is used in the terminal nodes of an optimal control problem. | ||
| 105 | * | ||
| 106 | * @param[in] data Symplectic Euler data | ||
| 107 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 108 | */ | ||
| 109 | virtual void calc(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 110 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 111 | |||
| 112 | /** | ||
| 113 | * @brief Compute the partial derivatives of the symplectic Euler integrator | ||
| 114 | * | ||
| 115 | * @param[in] data Symplectic Euler data | ||
| 116 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 117 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 118 | */ | ||
| 119 | virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 120 | const Eigen::Ref<const VectorXs>& x, | ||
| 121 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 122 | |||
| 123 | /** | ||
| 124 | * @brief Compute the partial derivatives of the cost | ||
| 125 | * | ||
| 126 | * It updates the derivatives of the cost function with respect to the state | ||
| 127 | * only. This function is used in the terminal nodes of an optimal control | ||
| 128 | * problem. | ||
| 129 | * | ||
| 130 | * @param[in] data Symplectic Euler data | ||
| 131 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 132 | */ | ||
| 133 | virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 134 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 135 | |||
| 136 | /** | ||
| 137 | * @brief Create the symplectic Euler data | ||
| 138 | * | ||
| 139 | * @return the symplectic Euler data | ||
| 140 | */ | ||
| 141 | virtual std::shared_ptr<ActionDataAbstract> createData() override; | ||
| 142 | |||
| 143 | /** | ||
| 144 | * @brief Cast the Euler integrated-action model to a different scalar type. | ||
| 145 | * | ||
| 146 | * It is useful for operations requiring different precision or scalar types. | ||
| 147 | * | ||
| 148 | * @tparam NewScalar The new scalar type to cast to. | ||
| 149 | * @return IntegratedActionModelEulerTpl<NewScalar> An action model with the | ||
| 150 | * new scalar type. | ||
| 151 | */ | ||
| 152 | template <typename NewScalar> | ||
| 153 | IntegratedActionModelEulerTpl<NewScalar> cast() const; | ||
| 154 | |||
| 155 | /** | ||
| 156 | * @brief Checks that a specific data belongs to this model | ||
| 157 | */ | ||
| 158 | virtual bool checkData( | ||
| 159 | const std::shared_ptr<ActionDataAbstract>& data) override; | ||
| 160 | |||
| 161 | /** | ||
| 162 | * @brief Computes the quasic static commands | ||
| 163 | * | ||
| 164 | * The quasic static commands are the ones produced for a the reference | ||
| 165 | * posture as an equilibrium point, i.e. for | ||
| 166 | * \f$\mathbf{f^q_x}\delta\mathbf{q}+\mathbf{f_u}\delta\mathbf{u}=\mathbf{0}\f$ | ||
| 167 | * | ||
| 168 | * @param[in] data Symplectic Euler data | ||
| 169 | * @param[out] u Quasic static commands | ||
| 170 | * @param[in] x State point (velocity has to be zero) | ||
| 171 | * @param[in] maxiter Maximum allowed number of iterations | ||
| 172 | * @param[in] tol Tolerance | ||
| 173 | */ | ||
| 174 | virtual void quasiStatic(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 175 | Eigen::Ref<VectorXs> u, | ||
| 176 | const Eigen::Ref<const VectorXs>& x, | ||
| 177 | const std::size_t maxiter = 100, | ||
| 178 | const Scalar tol = Scalar(1e-9)) override; | ||
| 179 | |||
| 180 | /** | ||
| 181 | * @brief Print relevant information of the Euler integrator model | ||
| 182 | * | ||
| 183 | * @param[out] os Output stream object | ||
| 184 | */ | ||
| 185 | virtual void print(std::ostream& os) const override; | ||
| 186 | |||
| 187 | protected: | ||
| 188 | using Base::control_; //!< Control parametrization | ||
| 189 | using Base::differential_; //!< Differential action model | ||
| 190 | using Base::ng_; //!< Number of inequality constraints | ||
| 191 | using Base::nh_; //!< Number of equality constraints | ||
| 192 | using Base::nu_; //!< Dimension of the control | ||
| 193 | using Base::state_; //!< Model of the state | ||
| 194 | using Base::time_step2_; //!< Square of the time step used for integration | ||
| 195 | using Base::time_step_; //!< Time step used for integration | ||
| 196 | using Base::with_cost_residual_; //!< Flag indicating whether a cost residual | ||
| 197 | //!< is used | ||
| 198 | }; | ||
| 199 | |||
| 200 | template <typename _Scalar> | ||
| 201 | struct IntegratedActionDataEulerTpl | ||
| 202 | : public IntegratedActionDataAbstractTpl<_Scalar> { | ||
| 203 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 204 | |||
| 205 | typedef _Scalar Scalar; | ||
| 206 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 207 | typedef IntegratedActionDataAbstractTpl<Scalar> Base; | ||
| 208 | typedef DifferentialActionDataAbstractTpl<Scalar> | ||
| 209 | DifferentialActionDataAbstract; | ||
| 210 | typedef ControlParametrizationDataAbstractTpl<Scalar> | ||
| 211 | ControlParametrizationDataAbstract; | ||
| 212 | typedef typename MathBase::VectorXs VectorXs; | ||
| 213 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 214 | |||
| 215 | template <template <typename Scalar> class Model> | ||
| 216 | 8153 | explicit IntegratedActionDataEulerTpl(Model<Scalar>* const model) | |
| 217 |
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8153 | : Base(model) { |
| 218 |
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8153 | differential = model->get_differential()->createData(); |
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8153 | control = model->get_control()->createData(); |
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8153 | const std::size_t ndx = model->get_state()->get_ndx(); |
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8153 | const std::size_t nv = model->get_state()->get_nv(); |
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8153 | dx = VectorXs::Zero(ndx); |
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8153 | da_du = MatrixXs::Zero(nv, model->get_nu()); |
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8153 | Lwu = MatrixXs::Zero(model->get_control()->get_nw(), model->get_nu()); |
| 225 | 8153 | } | |
| 226 | 14904 | virtual ~IntegratedActionDataEulerTpl() = default; | |
| 227 | |||
| 228 | std::shared_ptr<DifferentialActionDataAbstract> | ||
| 229 | differential; //!< Differential model data | ||
| 230 | std::shared_ptr<ControlParametrizationDataAbstract> | ||
| 231 | control; //!< Control parametrization data | ||
| 232 | VectorXs dx; | ||
| 233 | MatrixXs da_du; | ||
| 234 | MatrixXs Lwu; //!< Hessian of the cost function with respect to the control | ||
| 235 | //!< input (w) and control parameters (u) | ||
| 236 | |||
| 237 | using Base::cost; | ||
| 238 | using Base::Fu; | ||
| 239 | using Base::Fx; | ||
| 240 | using Base::Lu; | ||
| 241 | using Base::Luu; | ||
| 242 | using Base::Lx; | ||
| 243 | using Base::Lxu; | ||
| 244 | using Base::Lxx; | ||
| 245 | using Base::r; | ||
| 246 | using Base::xnext; | ||
| 247 | }; | ||
| 248 | |||
| 249 | } // namespace crocoddyl | ||
| 250 | |||
| 251 | /* --- Details -------------------------------------------------------------- */ | ||
| 252 | /* --- Details -------------------------------------------------------------- */ | ||
| 253 | /* --- Details -------------------------------------------------------------- */ | ||
| 254 | #include "crocoddyl/core/integrator/euler.hxx" | ||
| 255 | |||
| 256 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( | ||
| 257 | crocoddyl::IntegratedActionModelEulerTpl) | ||
| 258 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 259 | crocoddyl::IntegratedActionDataEulerTpl) | ||
| 260 | |||
| 261 | #endif // CROCODDYL_CORE_INTEGRATOR_EULER_HPP_ | ||
| 262 |