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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2024, University of Edinburgh, LAAS-CNRS |
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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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#ifndef CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_ |
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#define CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_ |
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#include <iostream> |
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#include <vector> |
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#include "crocoddyl/core/actuation-base.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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namespace crocoddyl { |
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/** |
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* @brief This class computes the numerical differentiation of an actuation |
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* model. |
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* |
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* It computes the Jacobian of the residual model via numerical differentiation, |
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* i.e., \f$\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{x}}\f$ and |
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* \f$\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{u}}\f$ which denote the |
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* Jacobians of the actuation function |
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* \f$\boldsymbol{\tau}(\mathbf{x},\mathbf{u})\f$. |
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* |
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* \sa `ActuationModelAbstractTpl()`, `calcDiff()` |
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*/ |
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template <typename _Scalar> |
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class ActuationModelNumDiffTpl : public ActuationModelAbstractTpl<_Scalar> { |
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public: |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ActuationModelAbstractTpl<Scalar> Base; |
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typedef ActuationDataNumDiffTpl<Scalar> Data; |
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typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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/** |
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* @brief Initialize the numdiff residual model |
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* |
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* @param model Actuation model that we want to apply the numerical |
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* differentiation |
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*/ |
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explicit ActuationModelNumDiffTpl(boost::shared_ptr<Base> model); |
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/** |
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* @brief Destroy the numdiff actuation model |
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*/ |
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virtual ~ActuationModelNumDiffTpl(); |
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/** |
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* @brief @copydoc Base::calc() |
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*/ |
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virtual void calc(const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief @copydoc Base::calc(const boost::shared_ptr<ActuationDataAbstract>& |
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* data, const Eigen::Ref<const VectorXs>& x) |
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*/ |
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virtual void calc(const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief @copydoc Base::calcDiff() |
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*/ |
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virtual void calcDiff(const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief @copydoc Base::calcDiff(const |
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* boost::shared_ptr<ActuationDataAbstract>& data, const Eigen::Ref<const |
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* VectorXs>& x) |
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*/ |
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virtual void calcDiff(const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief @copydoc Base::commands() |
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*/ |
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virtual void commands(const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& tau); |
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/** |
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* @brief @copydoc Base::torqueTransform() |
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*/ |
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virtual void torqueTransform( |
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const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief @copydoc Base::createData() |
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*/ |
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virtual boost::shared_ptr<ActuationDataAbstract> createData(); |
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/** |
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* @brief Return the original actuation model |
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*/ |
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const boost::shared_ptr<Base>& get_model() const; |
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/** |
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* @brief Return the disturbance constant used by the numerical |
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* differentiation routine |
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*/ |
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const Scalar get_disturbance() const; |
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/** |
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* @brief Modify the disturbance constant used by the numerical |
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* differentiation routine |
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*/ |
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void set_disturbance(const Scalar disturbance); |
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private: |
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boost::shared_ptr<Base> model_; //!< Actuation model hat we want to apply the |
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//!< numerical differentiation |
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Scalar e_jac_; //!< Constant used for computing disturbances in Jacobian |
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//!< calculation |
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protected: |
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using Base::nu_; |
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}; |
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template <typename _Scalar> |
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struct ActuationDataNumDiffTpl : public ActuationDataAbstractTpl<_Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef ActuationDataAbstractTpl<Scalar> Base; |
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/** |
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* @brief Initialize the numdiff actuation data |
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* |
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* @tparam Model is the type of the `ActuationModelAbstractTpl`. |
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* @param model is the object to compute the numerical differentiation from. |
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*/ |
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template <template <typename Scalar> class Model> |
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explicit ActuationDataNumDiffTpl(Model<Scalar>* const model) |
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: Base(model), |
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dx(model->get_model()->get_state()->get_ndx()), |
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du(model->get_model()->get_nu()), |
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✓✗✓✗
✓✗ |
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xp(model->get_model()->get_state()->get_nx()) { |
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dx.setZero(); |
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du.setZero(); |
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xp.setZero(); |
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const std::size_t ndx = model->get_model()->get_state()->get_ndx(); |
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const std::size_t nu = model->get_model()->get_nu(); |
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✓✗ |
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data_0 = model->get_model()->createData(); |
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for (std::size_t i = 0; i < ndx; ++i) { |
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data_x.push_back(model->get_model()->createData()); |
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} |
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✓✓ |
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for (std::size_t i = 0; i < nu; ++i) { |
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data_u.push_back(model->get_model()->createData()); |
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} |
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} |
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Scalar x_norm; //!< Norm of the state vector |
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Scalar |
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xh_jac; //!< Disturbance value used for computing \f$ \ell_\mathbf{x} \f$ |
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Scalar |
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uh_jac; //!< Disturbance value used for computing \f$ \ell_\mathbf{u} \f$ |
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VectorXs dx; //!< State disturbance |
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VectorXs du; //!< Control disturbance |
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VectorXs xp; //!< The integrated state from the disturbance on one DoF "\f$ |
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//!< \int x dx_i \f$" |
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boost::shared_ptr<Base> data_0; //!< The data that contains the final results |
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std::vector<boost::shared_ptr<Base> > |
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data_x; //!< The temporary data associated with the state variation |
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std::vector<boost::shared_ptr<Base> > |
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data_u; //!< The temporary data associated with the control variation |
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using Base::dtau_du; |
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using Base::dtau_dx; |
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using Base::tau; |
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}; |
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} // namespace crocoddyl |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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#include "crocoddyl/core/numdiff/actuation.hxx" |
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#endif // CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_ |