| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/core/integ-action-base.hxx |
| Date: | 2025-01-16 08:47:40 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 39 | 59 | 66.1% |
| Branches: | 18 | 78 | 23.1% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2024, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // University of Oxford, University of Trento, | ||
| 6 | // Heriot-Watt University | ||
| 7 | // Copyright note valid unless otherwise stated in individual files. | ||
| 8 | // All rights reserved. | ||
| 9 | /////////////////////////////////////////////////////////////////////////////// | ||
| 10 | |||
| 11 | #include <boost/core/demangle.hpp> | ||
| 12 | #include <iostream> | ||
| 13 | #include <typeinfo> | ||
| 14 | |||
| 15 | #include "crocoddyl/core/controls/poly-zero.hpp" | ||
| 16 | #include "crocoddyl/core/integ-action-base.hpp" | ||
| 17 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 18 | |||
| 19 | namespace crocoddyl { | ||
| 20 | |||
| 21 | template <typename Scalar> | ||
| 22 | 713 | IntegratedActionModelAbstractTpl<Scalar>::IntegratedActionModelAbstractTpl( | |
| 23 | boost::shared_ptr<DifferentialActionModelAbstract> model, | ||
| 24 | boost::shared_ptr<ControlParametrizationModelAbstract> control, | ||
| 25 | const Scalar time_step, const bool with_cost_residual) | ||
| 26 | : Base(model->get_state(), control->get_nu(), model->get_nr(), | ||
| 27 | 2852 | model->get_ng(), model->get_nh()), | |
| 28 | 713 | differential_(model), | |
| 29 | 713 | control_(control), | |
| 30 | 713 | time_step_(time_step), | |
| 31 |
1/2✓ Branch 12 taken 713 times.
✗ Branch 13 not taken.
|
713 | with_cost_residual_(with_cost_residual) { |
| 32 |
1/2✗ Branch 4 not taken.
✓ Branch 5 taken 713 times.
|
713 | if (control->get_nw() != model->get_nu()) { |
| 33 | ✗ | throw_pretty("Invalid argument: " | |
| 34 | << "control.nw (" + std::to_string(control->get_nw()) + | ||
| 35 | ") is not equal to model.nu (" + | ||
| 36 | std::to_string(model->get_nu()) + ")"); | ||
| 37 | } | ||
| 38 |
1/2✓ Branch 1 taken 713 times.
✗ Branch 2 not taken.
|
713 | init(); |
| 39 | 713 | } | |
| 40 | |||
| 41 | template <typename Scalar> | ||
| 42 | 378 | IntegratedActionModelAbstractTpl<Scalar>::IntegratedActionModelAbstractTpl( | |
| 43 | boost::shared_ptr<DifferentialActionModelAbstract> model, | ||
| 44 | const Scalar time_step, const bool with_cost_residual) | ||
| 45 | : Base(model->get_state(), model->get_nu(), model->get_nr(), | ||
| 46 | 1512 | model->get_ng(), model->get_nh()), | |
| 47 | 378 | differential_(model), | |
| 48 |
1/2✓ Branch 1 taken 378 times.
✗ Branch 2 not taken.
|
378 | control_( |
| 49 |
2/4✓ Branch 3 taken 378 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 378 times.
✗ Branch 7 not taken.
|
378 | new ControlParametrizationModelPolyZeroTpl<Scalar>(model->get_nu())), |
| 50 | 378 | time_step_(time_step), | |
| 51 |
1/2✓ Branch 12 taken 378 times.
✗ Branch 13 not taken.
|
378 | with_cost_residual_(with_cost_residual) { |
| 52 |
1/2✓ Branch 1 taken 378 times.
✗ Branch 2 not taken.
|
378 | init(); |
| 53 | 378 | } | |
| 54 | |||
| 55 | template <typename Scalar> | ||
| 56 | 1091 | void IntegratedActionModelAbstractTpl<Scalar>::init() { | |
| 57 | 1091 | time_step2_ = time_step_ * time_step_; | |
| 58 |
2/4✓ Branch 1 taken 1091 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 1091 times.
✗ Branch 5 not taken.
|
1091 | VectorXs u_lb(nu_), u_ub(nu_); |
| 59 |
5/10✓ Branch 2 taken 1091 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 1091 times.
✗ Branch 6 not taken.
✓ Branch 10 taken 1091 times.
✗ Branch 11 not taken.
✓ Branch 15 taken 1091 times.
✗ Branch 16 not taken.
✓ Branch 18 taken 1091 times.
✗ Branch 19 not taken.
|
1091 | control_->convertBounds(differential_->get_u_lb(), differential_->get_u_ub(), |
| 60 | u_lb, u_ub); | ||
| 61 |
1/2✓ Branch 1 taken 1091 times.
✗ Branch 2 not taken.
|
1091 | Base::set_u_lb(u_lb); |
| 62 |
1/2✓ Branch 1 taken 1091 times.
✗ Branch 2 not taken.
|
1091 | Base::set_u_ub(u_ub); |
| 63 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 1091 times.
|
1091 | if (time_step_ < Scalar(0.)) { |
| 64 | ✗ | time_step_ = Scalar(1e-3); | |
| 65 | ✗ | time_step2_ = time_step_ * time_step_; | |
| 66 | ✗ | std::cerr << "Warning: dt should be positive, set to 1e-3" << std::endl; | |
| 67 | } | ||
| 68 | 1091 | } | |
| 69 | |||
| 70 | template <typename Scalar> | ||
| 71 | 2190 | IntegratedActionModelAbstractTpl<Scalar>::~IntegratedActionModelAbstractTpl() {} | |
| 72 | |||
| 73 | template <typename Scalar> | ||
| 74 | boost::shared_ptr<ActionDataAbstractTpl<Scalar> > | ||
| 75 | ✗ | IntegratedActionModelAbstractTpl<Scalar>::createData() { | |
| 76 | ✗ | if (control_->get_nu() > differential_->get_nu()) | |
| 77 | ✗ | std::cerr << "Warning: It is useless to use an Euler integrator with a " | |
| 78 | "control parametrization larger than PolyZero" | ||
| 79 | ✗ | << std::endl; | |
| 80 | ✗ | return boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 81 | } | ||
| 82 | |||
| 83 | template <typename Scalar> | ||
| 84 | 119775 | std::size_t IntegratedActionModelAbstractTpl<Scalar>::get_ng() const { | |
| 85 | 119775 | return differential_->get_ng(); | |
| 86 | } | ||
| 87 | |||
| 88 | template <typename Scalar> | ||
| 89 | 157347 | std::size_t IntegratedActionModelAbstractTpl<Scalar>::get_nh() const { | |
| 90 | 157347 | return differential_->get_nh(); | |
| 91 | } | ||
| 92 | |||
| 93 | template <typename Scalar> | ||
| 94 | 237914 | std::size_t IntegratedActionModelAbstractTpl<Scalar>::get_ng_T() const { | |
| 95 | 237914 | return differential_->get_ng_T(); | |
| 96 | } | ||
| 97 | |||
| 98 | template <typename Scalar> | ||
| 99 | 200078 | std::size_t IntegratedActionModelAbstractTpl<Scalar>::get_nh_T() const { | |
| 100 | 200078 | return differential_->get_nh_T(); | |
| 101 | } | ||
| 102 | |||
| 103 | template <typename Scalar> | ||
| 104 | const typename MathBaseTpl<Scalar>::VectorXs& | ||
| 105 | ✗ | IntegratedActionModelAbstractTpl<Scalar>::get_g_lb() const { | |
| 106 | ✗ | return differential_->get_g_lb(); | |
| 107 | } | ||
| 108 | |||
| 109 | template <typename Scalar> | ||
| 110 | const typename MathBaseTpl<Scalar>::VectorXs& | ||
| 111 | ✗ | IntegratedActionModelAbstractTpl<Scalar>::get_g_ub() const { | |
| 112 | ✗ | return differential_->get_g_ub(); | |
| 113 | } | ||
| 114 | |||
| 115 | template <typename Scalar> | ||
| 116 | const boost::shared_ptr<DifferentialActionModelAbstractTpl<Scalar> >& | ||
| 117 | 105004 | IntegratedActionModelAbstractTpl<Scalar>::get_differential() const { | |
| 118 | 105004 | return differential_; | |
| 119 | } | ||
| 120 | |||
| 121 | template <typename Scalar> | ||
| 122 | const boost::shared_ptr<ControlParametrizationModelAbstractTpl<Scalar> >& | ||
| 123 | 270806 | IntegratedActionModelAbstractTpl<Scalar>::get_control() const { | |
| 124 | 270806 | return control_; | |
| 125 | } | ||
| 126 | |||
| 127 | template <typename Scalar> | ||
| 128 | ✗ | const Scalar IntegratedActionModelAbstractTpl<Scalar>::get_dt() const { | |
| 129 | ✗ | return time_step_; | |
| 130 | } | ||
| 131 | |||
| 132 | template <typename Scalar> | ||
| 133 | ✗ | void IntegratedActionModelAbstractTpl<Scalar>::set_dt(const Scalar dt) { | |
| 134 | ✗ | if (dt < 0.) { | |
| 135 | ✗ | throw_pretty("Invalid argument: " << "dt has positive value"); | |
| 136 | } | ||
| 137 | ✗ | time_step_ = dt; | |
| 138 | ✗ | time_step2_ = dt * dt; | |
| 139 | } | ||
| 140 | |||
| 141 | template <typename Scalar> | ||
| 142 | void IntegratedActionModelAbstractTpl<Scalar>::set_differential( | ||
| 143 | boost::shared_ptr<DifferentialActionModelAbstract> model) { | ||
| 144 | if (control_->get_nw() != model->get_nu()) { | ||
| 145 | throw_pretty("Invalid argument: " | ||
| 146 | << "control.nw (" + std::to_string(control_->get_nw()) + | ||
| 147 | ") is not equal to model.nu (" + | ||
| 148 | std::to_string(model->get_nu()) + ")"); | ||
| 149 | } | ||
| 150 | |||
| 151 | nr_ = model->get_nr(); | ||
| 152 | state_ = model->get_state(); | ||
| 153 | differential_ = model; | ||
| 154 | |||
| 155 | VectorXs p_lb(nu_), p_ub(nu_); | ||
| 156 | control_->convertBounds(differential_->get_u_lb(), differential_->get_u_ub(), | ||
| 157 | p_lb, p_ub); | ||
| 158 | Base::set_u_lb(p_lb); | ||
| 159 | Base::set_u_ub(p_ub); | ||
| 160 | } | ||
| 161 | |||
| 162 | } // namespace crocoddyl | ||
| 163 |