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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2023, LAAS-CNRS, New York University, Max Planck |
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// Gesellschaft, |
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// University of Edinburgh, University of Trento, |
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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_CONTROL_HPP_ |
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#define CROCODDYL_CORE_NUMDIFF_CONTROL_HPP_ |
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#include <boost/make_shared.hpp> |
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#include <boost/shared_ptr.hpp> |
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#include <vector> |
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#include "crocoddyl/core/control-base.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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class ControlParametrizationModelNumDiffTpl |
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: public ControlParametrizationModelAbstractTpl<_Scalar> { |
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public: |
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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 ControlParametrizationModelAbstractTpl<_Scalar> Base; |
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typedef ControlParametrizationDataNumDiffTpl<_Scalar> Data; |
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typedef ControlParametrizationDataAbstractTpl<_Scalar> |
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ControlParametrizationDataAbstract; |
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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 Construct a new ControlParametrizationModelNumDiff object |
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* |
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* @param model |
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*/ |
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explicit ControlParametrizationModelNumDiffTpl(boost::shared_ptr<Base> model); |
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virtual ~ControlParametrizationModelNumDiffTpl(); |
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/** |
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* @brief Get the value of the control at the specified time |
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* |
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* @param[in] data Control-parametrization numdiff data |
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* @param[in] t Time in [0,1] |
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* @param[in] u Control parameters |
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*/ |
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void calc(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Scalar t, const Eigen::Ref<const VectorXs>& u) const; |
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/** |
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* @brief Get the value of the Jacobian of the control with respect to the |
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* parameters |
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* |
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* @param[in] data Control-parametrization numdiff data |
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* @param[in] t Time in [0,1] |
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* @param[in] u Control parameters |
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*/ |
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void calcDiff( |
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const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Scalar t, const Eigen::Ref<const VectorXs>& u) const; |
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/** |
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* @brief Create the control-parametrization data |
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* |
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* @return the control-parametrization data |
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*/ |
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virtual boost::shared_ptr<ControlParametrizationDataAbstract> createData(); |
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/** |
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* @brief Get a value of the control parameters such that the control at the |
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* specified time t is equal to the specified value u |
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* |
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* @param[in] data Control-parametrization numdiff data |
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* @param[in] t Time in [0,1] |
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* @param[in] w Control values |
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*/ |
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void params(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Scalar t, const Eigen::Ref<const VectorXs>& w) const; |
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/** |
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* @brief Convert the bounds on the control to bounds on the control |
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* parameters |
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* |
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* @param[in] w_lb Control lower bound |
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* @param[in] w_ub Control upper bound |
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* @param[in] u_lb Control parameter lower bound |
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* @param[in] u_ub Control parameter upper bound |
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*/ |
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void convertBounds(const Eigen::Ref<const VectorXs>& w_lb, |
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const Eigen::Ref<const VectorXs>& w_ub, |
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Eigen::Ref<VectorXs> u_lb, |
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Eigen::Ref<VectorXs> u_ub) const; |
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/** |
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* @brief Compute the product between a specified matrix and the Jacobian of |
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* the control (with respect to the parameters) |
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* |
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* @param[in] data Control-parametrization numdiff data |
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* @param[in] A A matrix to multiply times the Jacobian |
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* @param[out] out Product between the matrix A and the Jacobian of the |
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* control with respect to the parameters |
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* @param[in] op Assignment operator which sets, adds, or removes the |
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* given results |
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*/ |
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void multiplyByJacobian( |
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const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, |
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const AssignmentOp = setto) const; |
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/** |
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* @brief Compute the product between the transposed Jacobian of the control |
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* (with respect to the parameters) and a specified matrix |
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* |
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* @param[in] data Control-parametrization numdiff data |
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* @param[in] A A matrix to multiply times the Jacobian |
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* @param[out] out Product between the transposed Jacobian of the control |
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* with respect to the parameters and the matrix A |
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* @param[in] op Assignment operator which sets, adds, or removes the |
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* given results |
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*/ |
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void multiplyJacobianTransposeBy( |
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const boost::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, |
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const AssignmentOp = setto) const; |
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/** |
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* @brief Get the model_ object |
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* |
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* @return Base& |
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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 in 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 in 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> |
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model_; //!< model we need to compute the 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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using Base::nw_; |
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}; |
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template <typename _Scalar> |
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struct ControlParametrizationDataNumDiffTpl |
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: public ControlParametrizationDataAbstractTpl<_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 typename MathBase::MatrixXs MatrixXs; |
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typedef ControlParametrizationDataAbstractTpl<Scalar> Base; |
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template <template <typename Scalar> class Model> |
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explicit ControlParametrizationDataNumDiffTpl(Model<Scalar>* const model) |
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✓✗ |
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: Base(model), du(model->get_nu()) { |
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✓✗ |
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du.setZero(); |
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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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✓✓ |
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for (std::size_t i = 0; i < nu; ++i) { |
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✓✗✓✗
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data_u.push_back(model->get_model()->createData()); |
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} |
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} |
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virtual ~ControlParametrizationDataNumDiffTpl() {} |
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VectorXs du; //!< temporary variable used for finite differencing |
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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_u; //!< The temporary data associated with the control variation |
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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/control.hxx" |
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#endif // CROCODDYL_CORE_NUMDIFF_CONTROL_HPP_ |