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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, University of Pisa, |
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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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IntegratedActionModelEulerTpl<Scalar>::IntegratedActionModelEulerTpl( |
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std::shared_ptr<DifferentialActionModelAbstract> model, |
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std::shared_ptr<ControlParametrizationModelAbstract> control, |
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const Scalar time_step, const bool with_cost_residual) |
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: Base(model, control, time_step, with_cost_residual) {} |
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template <typename Scalar> |
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IntegratedActionModelEulerTpl<Scalar>::IntegratedActionModelEulerTpl( |
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std::shared_ptr<DifferentialActionModelAbstract> model, |
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const Scalar time_step, const bool with_cost_residual) |
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: Base(model, time_step, with_cost_residual) {} |
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template <typename Scalar> |
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void IntegratedActionModelEulerTpl<Scalar>::calc( |
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const std::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { |
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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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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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const std::size_t nv = differential_->get_state()->get_nv(); |
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Data* d = static_cast<Data*>(data.get()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = |
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x.tail(nv); |
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control_->calc(d->control, Scalar(0.), u); |
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differential_->calc(d->differential, x, d->control->w); |
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const VectorXs& a = d->differential->xout; |
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d->dx.head(nv).noalias() = v * time_step_ + a * time_step2_; |
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d->dx.tail(nv).noalias() = a * time_step_; |
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differential_->get_state()->integrate(x, d->dx, d->xnext); |
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d->cost = time_step_ * d->differential->cost; |
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d->g = d->differential->g; |
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d->h = d->differential->h; |
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if (with_cost_residual_) { |
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d->r = d->differential->r; |
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} |
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} |
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template <typename Scalar> |
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void IntegratedActionModelEulerTpl<Scalar>::calc( |
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const std::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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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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Data* d = static_cast<Data*>(data.get()); |
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differential_->calc(d->differential, x); |
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d->dx.setZero(); |
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d->xnext = x; |
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d->cost = d->differential->cost; |
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d->g = d->differential->g; |
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d->h = d->differential->h; |
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if (with_cost_residual_) { |
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d->r = d->differential->r; |
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} |
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} |
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template <typename Scalar> |
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void IntegratedActionModelEulerTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { |
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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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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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const std::size_t nv = state_->get_nv(); |
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Data* d = static_cast<Data*>(data.get()); |
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control_->calc(d->control, Scalar(0.), u); |
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differential_->calcDiff(d->differential, x, d->control->w); |
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const MatrixXs& da_dx = d->differential->Fx; |
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const MatrixXs& da_du = d->differential->Fu; |
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control_->multiplyByJacobian(d->control, da_du, d->da_du); |
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d->Fx.topRows(nv).noalias() = da_dx * time_step2_; |
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d->Fx.bottomRows(nv).noalias() = da_dx * time_step_; |
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d->Fx.topRightCorner(nv, nv).diagonal().array() += Scalar(time_step_); |
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d->Fu.topRows(nv).noalias() = time_step2_ * d->da_du; |
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d->Fu.bottomRows(nv).noalias() = time_step_ * d->da_du; |
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state_->JintegrateTransport(x, d->dx, d->Fx, second); |
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state_->Jintegrate(x, d->dx, d->Fx, d->Fx, first, addto); |
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state_->JintegrateTransport(x, d->dx, d->Fu, second); |
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d->Lx.noalias() = time_step_ * d->differential->Lx; |
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control_->multiplyJacobianTransposeBy(d->control, d->differential->Lu, d->Lu); |
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d->Lu *= time_step_; |
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d->Lxx.noalias() = time_step_ * d->differential->Lxx; |
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control_->multiplyByJacobian(d->control, d->differential->Lxu, d->Lxu); |
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d->Lxu *= time_step_; |
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control_->multiplyByJacobian(d->control, d->differential->Luu, d->Lwu); |
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control_->multiplyJacobianTransposeBy(d->control, d->Lwu, d->Luu); |
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d->Luu *= time_step_; |
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d->Gx = d->differential->Gx; |
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d->Hx = d->differential->Hx; |
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d->Gu.conservativeResize(differential_->get_ng(), nu_); |
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d->Hu.conservativeResize(differential_->get_nh(), nu_); |
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control_->multiplyByJacobian(d->control, d->differential->Gu, d->Gu); |
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control_->multiplyByJacobian(d->control, d->differential->Hu, d->Hu); |
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} |
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template <typename Scalar> |
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void IntegratedActionModelEulerTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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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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Data* d = static_cast<Data*>(data.get()); |
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differential_->calcDiff(d->differential, x); |
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state_->Jintegrate(x, d->dx, d->Fx, d->Fx); |
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d->Lx = d->differential->Lx; |
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d->Lxx = d->differential->Lxx; |
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d->Gx = d->differential->Gx; |
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d->Hx = d->differential->Hx; |
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} |
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template <typename Scalar> |
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std::shared_ptr<ActionDataAbstractTpl<Scalar> > |
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IntegratedActionModelEulerTpl<Scalar>::createData() { |
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if (control_->get_nu() > differential_->get_nu()) |
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std::cerr << "Warning: It is useless to use an Euler integrator with a " |
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"control parametrization larger than PolyZero" |
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<< std::endl; |
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return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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IntegratedActionModelEulerTpl<NewScalar> |
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IntegratedActionModelEulerTpl<Scalar>::cast() const { |
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typedef IntegratedActionModelEulerTpl<NewScalar> ReturnType; |
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if (control_) { |
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ReturnType ret(differential_->template cast<NewScalar>(), |
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control_->template cast<NewScalar>(), |
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scalar_cast<NewScalar>(time_step_), with_cost_residual_); |
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return ret; |
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} else { |
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ReturnType ret(differential_->template cast<NewScalar>(), |
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scalar_cast<NewScalar>(time_step_), with_cost_residual_); |
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return ret; |
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} |
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} |
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template <typename Scalar> |
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bool IntegratedActionModelEulerTpl<Scalar>::checkData( |
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const std::shared_ptr<ActionDataAbstract>& data) { |
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std::shared_ptr<Data> d = std::dynamic_pointer_cast<Data>(data); |
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if (data != NULL) { |
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return differential_->checkData(d->differential); |
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} else { |
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return false; |
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} |
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} |
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template <typename Scalar> |
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void IntegratedActionModelEulerTpl<Scalar>::quasiStatic( |
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const std::shared_ptr<ActionDataAbstract>& data, Eigen::Ref<VectorXs> u, |
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const Eigen::Ref<const VectorXs>& x, const std::size_t maxiter, |
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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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const std::shared_ptr<Data>& d = std::static_pointer_cast<Data>(data); |
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d->control->w.setZero(); |
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differential_->quasiStatic(d->differential, d->control->w, x, maxiter, tol); |
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control_->params(d->control, Scalar(0.), d->control->w); |
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u = d->control->u; |
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} |
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template <typename Scalar> |
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void IntegratedActionModelEulerTpl<Scalar>::print(std::ostream& os) const { |
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os << "IntegratedActionModelEuler {dt=" << time_step_ << ", " |
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<< *differential_ << "}"; |
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} |
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} // namespace crocoddyl |
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