Head

GCC Code Coverage Report

Directory:	./		Exec	Total	Coverage
File:	include/crocoddyl/core/numdiff/constraint.hpp	Lines:	17	19	89.5 %
Date:	2024-02-13 11:12:33	Branches:	17	30	56.7 %


///////////////////////////////////////////////////////////////////////////////
// BSD 3-Clause License
//
// Copyright (C) 2020-2023, University of Edinburgh, Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
///////////////////////////////////////////////////////////////////////////////

#ifndef CROCODDYL_CORE_NUMDIFF_CONSTRAINT_HPP_
#define CROCODDYL_CORE_NUMDIFF_CONSTRAINT_HPP_

#include <boost/function.hpp>

#include "crocoddyl/core/constraint-base.hpp"

namespace crocoddyl {

/**
 * @brief This class computes the numerical differentiation of a constraint
 * model.
 *
 * It computes the Jacobian of the constraint model via numerical
 * differentiation, i.e., \f$\mathbf{g_x}\f$, \f$\mathbf{g_u}\f$ and
 * \f$\mathbf{h_x}\f$, \f$\mathbf{h_u}\f$, which denote the Jacobians of the
 * inequality and equality constraints, respectively.
 *
 * \sa `ConstraintModelAbstractTpl()`, `calcDiff()`
 */
template <typename _Scalar>
class ConstraintModelNumDiffTpl : public ConstraintModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef _Scalar Scalar;
  typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract;
  typedef ConstraintModelAbstractTpl<Scalar> Base;
  typedef ConstraintDataNumDiffTpl<Scalar> Data;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
  typedef boost::function<void(const VectorXs&, const VectorXs&)>
      ReevaluationFunction;

  /**
   * @brief Initialize the numdiff constraint model
   *
   * @param model
   */
  explicit ConstraintModelNumDiffTpl(const boost::shared_ptr<Base>& model);

  /**
   * @brief Initialize the numdiff constraint model
   */
  virtual ~ConstraintModelNumDiffTpl();

  /**
   * @brief @copydoc ConstraintModelAbstract::calc()
   */
  virtual void calc(const boost::shared_ptr<ConstraintDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u);

  /**
   * @brief @copydoc ConstraintModelAbstract::calc(const
   * boost::shared_ptr<ConstraintDataAbstract>& data, const Eigen::Ref<const
   * VectorXs>& x)
   */
  virtual void calc(const boost::shared_ptr<ConstraintDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x);

  /**
   * @brief @copydoc ConstraintModelAbstract::calcDiff()
   */
  virtual void calcDiff(const boost::shared_ptr<ConstraintDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u);

  /**
   * @brief @copydoc ConstraintModelAbstract::calcDiff(const
   * boost::shared_ptr<ConstraintDataAbstract>& data, const Eigen::Ref<const
   * VectorXs>& x)
   */
  virtual void calcDiff(const boost::shared_ptr<ConstraintDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x);

  /**
   * @brief @copydoc Base::createData()
   */
  virtual boost::shared_ptr<ConstraintDataAbstract> createData(
      DataCollectorAbstract* const data);

  /**
   * @brief Return the original constraint model
   */
  const boost::shared_ptr<Base>& get_model() const;

  /**
   * @brief Return the disturbance constant used by the numerical
   * differentiation routine
   */
  const Scalar get_disturbance() const;

  /**
   * @brief Modify the disturbance constant used by the numerical
   * differentiation routine
   */
  void set_disturbance(const Scalar disturbance);

  /**
   * @brief Register functions that updates the shared data computed for a
   * system rollout The updated data is used to evaluate of the gradient and
   * Hessian.
   *
   * @param reevals are the registered functions.
   */
  void set_reevals(const std::vector<ReevaluationFunction>& reevals);

 protected:
  using Base::nu_;
  using Base::state_;
  using Base::unone_;

 private:
  /**
   * @brief Make sure that when we finite difference the constraint model, the
   * user does not face unknown behaviour because of the finite differencing of
   * a quaternion around pi. For full discussions see issue
   * https://gepgitlab.laas.fr/loco-3d/crocoddyl/issues/139
   *
   * @param x is the state at which the check is performed.
   */
  void assertStableStateFD(const Eigen::Ref<const VectorXs>& /*x*/);

  boost::shared_ptr<Base> model_;  //!< Constraint model hat we want to apply
                                   //!< the numerical differentiation
  Scalar e_jac_;  //!< Constant used for computing disturbances in Jacobian
                  //!< calculation
  std::vector<ReevaluationFunction>
      reevals_;  //!< Functions that needs execution before calc or calcDiff
};

template <typename _Scalar>
struct ConstraintDataNumDiffTpl : public ConstraintDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ConstraintDataAbstractTpl<Scalar> Base;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
  typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;

  template <template <typename Scalar> class Model>
  explicit ConstraintDataNumDiffTpl(Model<Scalar>* const model,
                                    DataCollectorAbstract* const shared_data)
      : Base(model, shared_data),
        dx(model->get_state()->get_ndx()),
        xp(model->get_state()->get_nx()),
        du(model->get_nu()),
        up(model->get_nu()) {
    dx.setZero();
    xp.setZero();
    du.setZero();
    up.setZero();

    const std::size_t& ndx = model->get_model()->get_state()->get_ndx();
    const std::size_t& nu = model->get_model()->get_nu();
    data_0 = model->get_model()->createData(shared_data);
    for (std::size_t i = 0; i < ndx; ++i) {
      data_x.push_back(model->get_model()->createData(shared_data));
    }
    for (std::size_t i = 0; i < nu; ++i) {
      data_u.push_back(model->get_model()->createData(shared_data));
    }
  }

  virtual ~ConstraintDataNumDiffTpl() {}

  using Base::Gu;
  using Base::Gx;
  using Base::Hu;
  using Base::Hx;
  using Base::shared;

  Scalar x_norm;  //!< Norm of the state vector
  Scalar
      xh_jac;  //!< Disturbance value used for computing \f$ \ell_\mathbf{x} \f$
  Scalar
      uh_jac;  //!< Disturbance value used for computing \f$ \ell_\mathbf{u} \f$
  VectorXs dx;  //!< State disturbance.
  VectorXs xp;  //!< The integrated state from the disturbance on one DoF "\f$
                //!< \int x dx_i \f$".
  VectorXs du;  //!< Control disturbance.
  VectorXs up;  //!< The integrated control from the disturbance on one DoF "\f$
                //!< \int u du_i = u + du \f$".
  boost::shared_ptr<Base> data_0;  //!< The data at the approximation point.
  std::vector<boost::shared_ptr<Base> >
      data_x;  //!< The temporary data associated with the state variation.
  std::vector<boost::shared_ptr<Base> >
      data_u;  //!< The temporary data associated with the control variation.
};

}  // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/numdiff/constraint.hxx"

#endif  // CROCODDYL_CORE_NUMDIFF_CONSTRAINT_HPP_


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2020-2023, University of Edinburgh, Heriot-Watt University
5			// Copyright note valid unless otherwise stated in individual files.
6			// All rights reserved.
7			///////////////////////////////////////////////////////////////////////////////
8
9			#ifndef CROCODDYL_CORE_NUMDIFF_CONSTRAINT_HPP_
10			#define CROCODDYL_CORE_NUMDIFF_CONSTRAINT_HPP_
11
12			#include <boost/function.hpp>
13
14			#include "crocoddyl/core/constraint-base.hpp"
15
16			namespace crocoddyl {
17
18			/**
19			* @brief This class computes the numerical differentiation of a constraint
20			* model.
21			*
22			* It computes the Jacobian of the constraint model via numerical
23			* differentiation, i.e., \f$\mathbf{g_x}\f$, \f$\mathbf{g_u}\f$ and
24			* \f$\mathbf{h_x}\f$, \f$\mathbf{h_u}\f$, which denote the Jacobians of the
25			* inequality and equality constraints, respectively.
26			*
27			* \sa `ConstraintModelAbstractTpl()`, `calcDiff()`
28			*/
29			template <typename _Scalar>
30			class ConstraintModelNumDiffTpl : public ConstraintModelAbstractTpl<_Scalar> {
31			public:
32			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
33
34			typedef _Scalar Scalar;
35			typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract;
36			typedef ConstraintModelAbstractTpl<Scalar> Base;
37			typedef ConstraintDataNumDiffTpl<Scalar> Data;
38			typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
39			typedef MathBaseTpl<Scalar> MathBase;
40			typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
41			typedef boost::function<void(const VectorXs&, const VectorXs&)>
42			ReevaluationFunction;
43
44			/**
45			* @brief Initialize the numdiff constraint model
46			*
47			* @param model
48			*/
49			explicit ConstraintModelNumDiffTpl(const boost::shared_ptr<Base>& model);
50
51			/**
52			* @brief Initialize the numdiff constraint model
53			*/
54			virtual ~ConstraintModelNumDiffTpl();
55
56			/**
57			* @brief @copydoc ConstraintModelAbstract::calc()
58			*/
59			virtual void calc(const boost::shared_ptr<ConstraintDataAbstract>& data,
60			const Eigen::Ref<const VectorXs>& x,
61			const Eigen::Ref<const VectorXs>& u);
62
63			/**
64			* @brief @copydoc ConstraintModelAbstract::calc(const
65			* boost::shared_ptr<ConstraintDataAbstract>& data, const Eigen::Ref<const
66			* VectorXs>& x)
67			*/
68			virtual void calc(const boost::shared_ptr<ConstraintDataAbstract>& data,
69			const Eigen::Ref<const VectorXs>& x);
70
71			/**
72			* @brief @copydoc ConstraintModelAbstract::calcDiff()
73			*/
74			virtual void calcDiff(const boost::shared_ptr<ConstraintDataAbstract>& data,
75			const Eigen::Ref<const VectorXs>& x,
76			const Eigen::Ref<const VectorXs>& u);
77
78			/**
79			* @brief @copydoc ConstraintModelAbstract::calcDiff(const
80			* boost::shared_ptr<ConstraintDataAbstract>& data, const Eigen::Ref<const
81			* VectorXs>& x)
82			*/
83			virtual void calcDiff(const boost::shared_ptr<ConstraintDataAbstract>& data,
84			const Eigen::Ref<const VectorXs>& x);
85
86			/**
87			* @brief @copydoc Base::createData()
88			*/
89			virtual boost::shared_ptr<ConstraintDataAbstract> createData(
90			DataCollectorAbstract* const data);
91
92			/**
93			* @brief Return the original constraint model
94			*/
95			const boost::shared_ptr<Base>& get_model() const;
96
97			/**
98			* @brief Return the disturbance constant used by the numerical
99			* differentiation routine
100			*/
101			const Scalar get_disturbance() const;
102
103			/**
104			* @brief Modify the disturbance constant used by the numerical
105			* differentiation routine
106			*/
107			void set_disturbance(const Scalar disturbance);
108
109			/**
110			* @brief Register functions that updates the shared data computed for a
111			* system rollout The updated data is used to evaluate of the gradient and
112			* Hessian.
113			*
114			* @param reevals are the registered functions.
115			*/
116			void set_reevals(const std::vector<ReevaluationFunction>& reevals);
117
118			protected:
119			using Base::nu_;
120			using Base::state_;
121			using Base::unone_;
122
123			private:
124			/**
125			* @brief Make sure that when we finite difference the constraint model, the
126			* user does not face unknown behaviour because of the finite differencing of
127			* a quaternion around pi. For full discussions see issue
128			* https://gepgitlab.laas.fr/loco-3d/crocoddyl/issues/139
129			*
130			* @param x is the state at which the check is performed.
131			*/
132			void assertStableStateFD(const Eigen::Ref<const VectorXs>& /x/);
133
134			boost::shared_ptr<Base> model_; //!< Constraint model hat we want to apply
135			//!< the numerical differentiation
136			Scalar e_jac_; //!< Constant used for computing disturbances in Jacobian
137			//!< calculation
138			std::vector<ReevaluationFunction>
139			reevals_; //!< Functions that needs execution before calc or calcDiff
140			};
141
142			template <typename _Scalar>
143			struct ConstraintDataNumDiffTpl : public ConstraintDataAbstractTpl<_Scalar> {
144			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
145
146			typedef _Scalar Scalar;
147			typedef MathBaseTpl<Scalar> MathBase;
148			typedef ConstraintDataAbstractTpl<Scalar> Base;
149			typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
150			typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
151			typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
152
153			template <template <typename Scalar> class Model>
154		140	explicit ConstraintDataNumDiffTpl(Model<Scalar>* const model,
155			DataCollectorAbstract* const shared_data)
156			: Base(model, shared_data),
157		140	dx(model->get_state()->get_ndx()),
158		140	xp(model->get_state()->get_nx()),
159			du(model->get_nu()),
160	✓✗✓✗ ✓✗✓✗	140	up(model->get_nu()) {
161	✓✗	140	dx.setZero();
162	✓✗	140	xp.setZero();
163	✓✗	140	du.setZero();
164	✓✗	140	up.setZero();
165
166		140	const std::size_t& ndx = model->get_model()->get_state()->get_ndx();
167		140	const std::size_t& nu = model->get_model()->get_nu();
168	✓✗	140	data_0 = model->get_model()->createData(shared_data);
169	✓✓	5852	for (std::size_t i = 0; i < ndx; ++i) {
170	✓✗✓✗	5712	data_x.push_back(model->get_model()->createData(shared_data));
171			}
172	✓✓	2996	for (std::size_t i = 0; i < nu; ++i) {
173	✓✗✓✗	2856	data_u.push_back(model->get_model()->createData(shared_data));
174			}
175		140	}
176
177		280	virtual ~ConstraintDataNumDiffTpl() {}
178
179			using Base::Gu;
180			using Base::Gx;
181			using Base::Hu;
182			using Base::Hx;
183			using Base::shared;
184
185			Scalar x_norm; //!< Norm of the state vector
186			Scalar
187			xh_jac; //!< Disturbance value used for computing \f$ \ell_\mathbf{x} \f$
188			Scalar
189			uh_jac; //!< Disturbance value used for computing \f$ \ell_\mathbf{u} \f$
190			VectorXs dx; //!< State disturbance.
191			VectorXs xp; //!< The integrated state from the disturbance on one DoF "\f$
192			//!< \int x dx_i \f$".
193			VectorXs du; //!< Control disturbance.
194			VectorXs up; //!< The integrated control from the disturbance on one DoF "\f$
195			//!< \int u du_i = u + du \f$".
196			boost::shared_ptr<Base> data_0; //!< The data at the approximation point.
197			std::vector<boost::shared_ptr<Base> >
198			data_x; //!< The temporary data associated with the state variation.
199			std::vector<boost::shared_ptr<Base> >
200			data_u; //!< The temporary data associated with the control variation.
201			};
202
203			} // namespace crocoddyl
204
205			/* --- Details -------------------------------------------------------------- */
206			/* --- Details -------------------------------------------------------------- */
207			/* --- Details -------------------------------------------------------------- */
208			#include "crocoddyl/core/numdiff/constraint.hxx"
209
210			#endif // CROCODDYL_CORE_NUMDIFF_CONSTRAINT_HPP_