| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, University of Edinburgh, University of Trento, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | namespace crocoddyl { | ||
| 11 | |||
| 12 | template <typename Scalar> | ||
| 13 | ✗ | ControlParametrizationModelPolyOneTpl< | |
| 14 | Scalar>::ControlParametrizationModelPolyOneTpl(const std::size_t nw) | ||
| 15 | ✗ | : Base(nw, 2 * nw) {} | |
| 16 | |||
| 17 | template <typename Scalar> | ||
| 18 | ✗ | void ControlParametrizationModelPolyOneTpl<Scalar>::calc( | |
| 19 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 20 | const Scalar t, const Eigen::Ref<const VectorXs>& u) const { | ||
| 21 | ✗ | if (static_cast<std::size_t>(u.size()) != nu_) { | |
| 22 | ✗ | throw_pretty( | |
| 23 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 24 | std::to_string(nu_) + ")"); | ||
| 25 | } | ||
| 26 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 27 | ✗ | d->c[1] = Scalar(2.) * t; | |
| 28 | ✗ | d->c[0] = Scalar(1.) - d->c[1]; | |
| 29 | ✗ | data->w = d->c[0] * u.head(nw_) + d->c[1] * u.tail(nw_); | |
| 30 | ✗ | } | |
| 31 | |||
| 32 | template <typename Scalar> | ||
| 33 | ✗ | void ControlParametrizationModelPolyOneTpl<Scalar>::calcDiff( | |
| 34 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 35 | const Scalar, const Eigen::Ref<const VectorXs>&) const { | ||
| 36 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 37 | ✗ | data->dw_du.leftCols(nw_).diagonal().array() = d->c[0]; | |
| 38 | ✗ | data->dw_du.rightCols(nw_).diagonal().array() = d->c[1]; | |
| 39 | ✗ | } | |
| 40 | |||
| 41 | template <typename Scalar> | ||
| 42 | std::shared_ptr<ControlParametrizationDataAbstractTpl<Scalar> > | ||
| 43 | ✗ | ControlParametrizationModelPolyOneTpl<Scalar>::createData() { | |
| 44 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 45 | } | ||
| 46 | |||
| 47 | template <typename Scalar> | ||
| 48 | ✗ | void ControlParametrizationModelPolyOneTpl<Scalar>::params( | |
| 49 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 50 | const Scalar, const Eigen::Ref<const VectorXs>& w) const { | ||
| 51 | ✗ | if (static_cast<std::size_t>(w.size()) != nw_) { | |
| 52 | ✗ | throw_pretty( | |
| 53 | "Invalid argument: " << "w has wrong dimension (it should be " + | ||
| 54 | std::to_string(nw_) + ")"); | ||
| 55 | } | ||
| 56 | ✗ | data->u.head(nw_) = w; | |
| 57 | ✗ | data->u.tail(nw_) = w; | |
| 58 | ✗ | } | |
| 59 | |||
| 60 | template <typename Scalar> | ||
| 61 | ✗ | void ControlParametrizationModelPolyOneTpl<Scalar>::convertBounds( | |
| 62 | const Eigen::Ref<const VectorXs>& w_lb, | ||
| 63 | const Eigen::Ref<const VectorXs>& w_ub, Eigen::Ref<VectorXs> u_lb, | ||
| 64 | Eigen::Ref<VectorXs> u_ub) const { | ||
| 65 | ✗ | if (static_cast<std::size_t>(u_lb.size()) != nu_) { | |
| 66 | ✗ | throw_pretty( | |
| 67 | "Invalid argument: " << "u_lb has wrong dimension (it should be " + | ||
| 68 | std::to_string(nu_) + ")"); | ||
| 69 | } | ||
| 70 | ✗ | if (static_cast<std::size_t>(u_ub.size()) != nu_) { | |
| 71 | ✗ | throw_pretty( | |
| 72 | "Invalid argument: " << "u_ub has wrong dimension (it should be " + | ||
| 73 | std::to_string(nu_) + ")"); | ||
| 74 | } | ||
| 75 | ✗ | if (static_cast<std::size_t>(w_lb.size()) != nw_) { | |
| 76 | ✗ | throw_pretty( | |
| 77 | "Invalid argument: " << "w_lb has wrong dimension (it should be " + | ||
| 78 | std::to_string(nw_) + ")"); | ||
| 79 | } | ||
| 80 | ✗ | if (static_cast<std::size_t>(w_ub.size()) != nw_) { | |
| 81 | ✗ | throw_pretty( | |
| 82 | "Invalid argument: " << "w_ub has wrong dimension (it should be " + | ||
| 83 | std::to_string(nw_) + ")"); | ||
| 84 | } | ||
| 85 | ✗ | u_lb.head(nw_) = w_lb; | |
| 86 | ✗ | u_lb.tail(nw_) = w_lb; | |
| 87 | ✗ | u_ub.head(nw_) = w_ub; | |
| 88 | ✗ | u_ub.tail(nw_) = w_ub; | |
| 89 | ✗ | } | |
| 90 | |||
| 91 | template <typename Scalar> | ||
| 92 | ✗ | void ControlParametrizationModelPolyOneTpl<Scalar>::multiplyByJacobian( | |
| 93 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 94 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 95 | const AssignmentOp op) const { | ||
| 96 | ✗ | assert_pretty(is_a_AssignmentOp(op), | |
| 97 | ("op must be one of the AssignmentOp {settop, addto, rmfrom}")); | ||
| 98 | ✗ | if (A.rows() != out.rows() || static_cast<std::size_t>(A.cols()) != nw_ || | |
| 99 | ✗ | static_cast<std::size_t>(out.cols()) != nu_) { | |
| 100 | ✗ | throw_pretty("Invalid argument: " << "A and out have wrong dimensions (" + | |
| 101 | std::to_string(A.rows()) + "," + | ||
| 102 | std::to_string(A.cols()) + | ||
| 103 | " and " + | ||
| 104 | std::to_string(out.rows()) + "," + | ||
| 105 | std::to_string(out.cols()) + +")"); | ||
| 106 | } | ||
| 107 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 108 | ✗ | switch (op) { | |
| 109 | ✗ | case setto: | |
| 110 | ✗ | out.leftCols(nw_) = d->c[0] * A; | |
| 111 | ✗ | out.rightCols(nw_) = d->c[1] * A; | |
| 112 | ✗ | break; | |
| 113 | ✗ | case addto: | |
| 114 | ✗ | out.leftCols(nw_) += d->c[0] * A; | |
| 115 | ✗ | out.rightCols(nw_) += d->c[1] * A; | |
| 116 | ✗ | break; | |
| 117 | ✗ | case rmfrom: | |
| 118 | ✗ | out.leftCols(nw_) -= d->c[0] * A; | |
| 119 | ✗ | out.rightCols(nw_) -= d->c[1] * A; | |
| 120 | ✗ | break; | |
| 121 | ✗ | default: | |
| 122 | ✗ | throw_pretty("Invalid argument: allowed operators: setto, addto, rmfrom"); | |
| 123 | break; | ||
| 124 | } | ||
| 125 | ✗ | } | |
| 126 | |||
| 127 | template <typename Scalar> | ||
| 128 | ✗ | void ControlParametrizationModelPolyOneTpl<Scalar>::multiplyJacobianTransposeBy( | |
| 129 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 130 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 131 | const AssignmentOp op) const { | ||
| 132 | ✗ | assert_pretty(is_a_AssignmentOp(op), | |
| 133 | ("op must be one of the AssignmentOp {settop, addto, rmfrom}")); | ||
| 134 | ✗ | if (A.cols() != out.cols() || static_cast<std::size_t>(A.rows()) != nw_ || | |
| 135 | ✗ | static_cast<std::size_t>(out.rows()) != nu_) { | |
| 136 | ✗ | throw_pretty("Invalid argument: " << "A and out have wrong dimensions (" + | |
| 137 | std::to_string(A.rows()) + "," + | ||
| 138 | std::to_string(A.cols()) + | ||
| 139 | " and " + | ||
| 140 | std::to_string(out.rows()) + "," + | ||
| 141 | std::to_string(out.cols()) + ")"); | ||
| 142 | } | ||
| 143 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 144 | ✗ | switch (op) { | |
| 145 | ✗ | case setto: | |
| 146 | ✗ | out.topRows(nw_) = d->c[0] * A; | |
| 147 | ✗ | out.bottomRows(nw_) = d->c[1] * A; | |
| 148 | ✗ | break; | |
| 149 | ✗ | case addto: | |
| 150 | ✗ | out.topRows(nw_) += d->c[0] * A; | |
| 151 | ✗ | out.bottomRows(nw_) += d->c[1] * A; | |
| 152 | ✗ | break; | |
| 153 | ✗ | case rmfrom: | |
| 154 | ✗ | out.topRows(nw_) -= d->c[0] * A; | |
| 155 | ✗ | out.bottomRows(nw_) -= d->c[1] * A; | |
| 156 | ✗ | break; | |
| 157 | ✗ | default: | |
| 158 | ✗ | throw_pretty("Invalid argument: allowed operators: setto, addto, rmfrom"); | |
| 159 | break; | ||
| 160 | } | ||
| 161 | ✗ | } | |
| 162 | |||
| 163 | template <typename Scalar> | ||
| 164 | template <typename NewScalar> | ||
| 165 | ControlParametrizationModelPolyOneTpl<NewScalar> | ||
| 166 | ✗ | ControlParametrizationModelPolyOneTpl<Scalar>::cast() const { | |
| 167 | typedef ControlParametrizationModelPolyOneTpl<NewScalar> ReturnType; | ||
| 168 | ✗ | ReturnType ret(nw_); | |
| 169 | ✗ | return ret; | |
| 170 | } | ||
| 171 | |||
| 172 | template <typename Scalar> | ||
| 173 | ✗ | void ControlParametrizationModelPolyOneTpl<Scalar>::print( | |
| 174 | std::ostream& os) const { | ||
| 175 | ✗ | os << "ControlParametrizationModelPolyZero {nw=" << nw_ << "}"; | |
| 176 | ✗ | } | |
| 177 | |||
| 178 | } // namespace crocoddyl | ||
| 179 |