| Directory: | ./ |
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| File: | include/crocoddyl/core/controls/poly-two-rk.hpp |
| Date: | 2025-03-26 19:23:43 |
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| 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 | #ifndef CROCODDYL_CORE_CONTROLS_POLY_TWO_RK_HPP_ | ||
| 11 | #define CROCODDYL_CORE_CONTROLS_POLY_TWO_RK_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/control-base.hpp" | ||
| 14 | #include "crocoddyl/core/fwd.hpp" | ||
| 15 | #include "crocoddyl/core/integrator/rk.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | |||
| 19 | /** | ||
| 20 | * @brief A polynomial function of time of degree two, that is a quadratic | ||
| 21 | * function | ||
| 22 | * | ||
| 23 | * The size of the parameters \f$\mathbf{u}\f$ is 3 times the size of the | ||
| 24 | * control input \f$\mathbf{w}\f$. It defines a polynomial of degree two, | ||
| 25 | * customized for the RK4 and RK4 integrators (even though it can be used with | ||
| 26 | * whatever integration scheme). The first third of \f$\mathbf{u}\f$ represents | ||
| 27 | * the value of \f$\mathbf{w}\f$ at time 0. The second third of \f$\mathbf{u}\f$ | ||
| 28 | * represents the value of \f$\mathbf{w}\f$ at time 0.5 or 1/3 for RK4 and RK3 | ||
| 29 | * parametrization, respectively. The last third of \f$\mathbf{u}\f$ represents | ||
| 30 | * the value of \f$\mathbf{w}\f$ at time 1 or 2/3 for the RK4 and RK3 | ||
| 31 | * parametrization, respectively. This parametrization is suitable to be used | ||
| 32 | * with the RK-4 or RK-3 integration schemes, because they require the value of | ||
| 33 | * \f$\mathbf{w}\f$ exactly at 0, 0.5, 1 (for RK4) or 0, 1/3, 2/3 (for RK3). | ||
| 34 | * | ||
| 35 | * The main computations are carried out in `calc`, `multiplyByJacobian` and | ||
| 36 | * `multiplyJacobianTransposeBy`, where the former computes control input | ||
| 37 | * \f$\mathbf{w}\in\mathbb{R}^{nw}\f$ from a set of control parameters | ||
| 38 | * \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ where `nw` and `nu` represent the | ||
| 39 | * dimension of the control inputs and parameters, respectively, and the latter | ||
| 40 | * defines useful operations across the Jacobian of the control-parametrization | ||
| 41 | * model. Finally, `params` allows us to obtain the control parameters from a | ||
| 42 | * the control input, i.e., it is the inverse of `calc`. Note that | ||
| 43 | * `multiplyByJacobian` and `multiplyJacobianTransposeBy` requires to run `calc` | ||
| 44 | * first. | ||
| 45 | * | ||
| 46 | * \sa `ControlParametrizationAbstractTpl`, `calc()`, `calcDiff()`, | ||
| 47 | * `createData()`, `params`, `multiplyByJacobian`, `multiplyJacobianTransposeBy` | ||
| 48 | */ | ||
| 49 | template <typename _Scalar> | ||
| 50 | class ControlParametrizationModelPolyTwoRKTpl | ||
| 51 | : public ControlParametrizationModelAbstractTpl<_Scalar> { | ||
| 52 | public: | ||
| 53 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 54 | 24 | CROCODDYL_DERIVED_CAST(ControlParametrizationModelBase, | |
| 55 | ControlParametrizationModelPolyTwoRKTpl) | ||
| 56 | |||
| 57 | typedef _Scalar Scalar; | ||
| 58 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 59 | typedef ControlParametrizationDataAbstractTpl<Scalar> | ||
| 60 | ControlParametrizationDataAbstract; | ||
| 61 | typedef ControlParametrizationModelAbstractTpl<Scalar> Base; | ||
| 62 | typedef ControlParametrizationDataPolyTwoRKTpl<Scalar> Data; | ||
| 63 | typedef typename MathBase::VectorXs VectorXs; | ||
| 64 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 65 | |||
| 66 | /** | ||
| 67 | * @brief Initialize the poly-two RK control parametrization | ||
| 68 | * | ||
| 69 | * @param[in] nw Dimension of control vector | ||
| 70 | * @param[in] rktype Type of RK parametrization | ||
| 71 | */ | ||
| 72 | explicit ControlParametrizationModelPolyTwoRKTpl(const std::size_t nw, | ||
| 73 | const RKType rktype); | ||
| 74 | 364 | virtual ~ControlParametrizationModelPolyTwoRKTpl() = default; | |
| 75 | |||
| 76 | /** | ||
| 77 | * @brief Get the value of the control at the specified time | ||
| 78 | * | ||
| 79 | * @param[in] data Poly-two-RK data | ||
| 80 | * @param[in] t Time in [0,1] | ||
| 81 | * @param[in] u Control parameters | ||
| 82 | */ | ||
| 83 | virtual void calc( | ||
| 84 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 85 | const Scalar t, const Eigen::Ref<const VectorXs>& u) const override; | ||
| 86 | |||
| 87 | /** | ||
| 88 | * @brief Get the value of the Jacobian of the control with respect to the | ||
| 89 | * parameters | ||
| 90 | * | ||
| 91 | * It assumes that `calc()` has been run first | ||
| 92 | * | ||
| 93 | * @param[in] data Poly-two-RK data | ||
| 94 | * @param[in] t Time in [0,1] | ||
| 95 | * @param[in] u Control parameters | ||
| 96 | */ | ||
| 97 | virtual void calcDiff( | ||
| 98 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 99 | const Scalar t, const Eigen::Ref<const VectorXs>& u) const override; | ||
| 100 | |||
| 101 | /** | ||
| 102 | * @brief Create the control-parametrization data | ||
| 103 | * | ||
| 104 | * @return the control-parametrization data | ||
| 105 | */ | ||
| 106 | virtual std::shared_ptr<ControlParametrizationDataAbstract> createData() | ||
| 107 | override; | ||
| 108 | |||
| 109 | /** | ||
| 110 | * @brief Get a value of the control parameters u such that the control at the | ||
| 111 | * specified time t is equal to the specified value w | ||
| 112 | * | ||
| 113 | * @param[in] data Poly-two-RK data | ||
| 114 | * @param[in] t Time in [0,1] | ||
| 115 | * @param[in] w Control values | ||
| 116 | */ | ||
| 117 | virtual void params( | ||
| 118 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 119 | const Scalar t, const Eigen::Ref<const VectorXs>& w) const override; | ||
| 120 | |||
| 121 | /** | ||
| 122 | * @brief Map the specified bounds from the control space to the parameter | ||
| 123 | * space | ||
| 124 | * | ||
| 125 | * @param[in] w_lb Control lower bound | ||
| 126 | * @param[in] w_ub Control lower bound | ||
| 127 | * @param[out] u_lb Control parameters lower bound | ||
| 128 | * @param[out] u_ub Control parameters upper bound | ||
| 129 | */ | ||
| 130 | virtual void convertBounds(const Eigen::Ref<const VectorXs>& w_lb, | ||
| 131 | const Eigen::Ref<const VectorXs>& w_ub, | ||
| 132 | Eigen::Ref<VectorXs> u_lb, | ||
| 133 | Eigen::Ref<VectorXs> u_ub) const override; | ||
| 134 | |||
| 135 | /** | ||
| 136 | * @brief Compute the product between a specified matrix and the Jacobian of | ||
| 137 | * the control (with respect to the parameters) | ||
| 138 | * | ||
| 139 | * It assumes that `calc()` has been run first | ||
| 140 | * | ||
| 141 | * @param[in] data Poly-two-RK data | ||
| 142 | * @param[in] A A matrix to multiply times the Jacobian | ||
| 143 | * @param[out] out Product between the matrix A and the Jacobian of the | ||
| 144 | * control with respect to the parameters | ||
| 145 | * @param[in] op Assignment operator which sets, adds, or removes the | ||
| 146 | * given results | ||
| 147 | */ | ||
| 148 | virtual void multiplyByJacobian( | ||
| 149 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 150 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 151 | const AssignmentOp = setto) const override; | ||
| 152 | |||
| 153 | /** | ||
| 154 | * @brief Compute the product between the transposed Jacobian of the control | ||
| 155 | * (with respect to the parameters) and a specified matrix | ||
| 156 | * | ||
| 157 | * It assumes that `calc()` has been run first | ||
| 158 | * | ||
| 159 | * @param[in] data Poly-two-RK data | ||
| 160 | * @param[in] A A matrix to multiply times the Jacobian | ||
| 161 | * @param[out] out Product between the transposed Jacobian of the control | ||
| 162 | * with respect to the parameters and the matrix A | ||
| 163 | * @param[in] op Assignment operator which sets, adds, or removes the | ||
| 164 | * given results | ||
| 165 | */ | ||
| 166 | virtual void multiplyJacobianTransposeBy( | ||
| 167 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 168 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 169 | const AssignmentOp = setto) const override; | ||
| 170 | |||
| 171 | template <typename NewScalar> | ||
| 172 | ControlParametrizationModelPolyTwoRKTpl<NewScalar> cast() const; | ||
| 173 | |||
| 174 | virtual void print(std::ostream& os) const override; | ||
| 175 | |||
| 176 | protected: | ||
| 177 | using Base::nu_; | ||
| 178 | using Base::nw_; | ||
| 179 | |||
| 180 | private: | ||
| 181 | RKType rktype_; | ||
| 182 | }; | ||
| 183 | |||
| 184 | template <typename _Scalar> | ||
| 185 | struct ControlParametrizationDataPolyTwoRKTpl | ||
| 186 | : public ControlParametrizationDataAbstractTpl<_Scalar> { | ||
| 187 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 188 | |||
| 189 | typedef _Scalar Scalar; | ||
| 190 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 191 | typedef ControlParametrizationDataAbstractTpl<Scalar> Base; | ||
| 192 | typedef typename MathBase::Vector3s Vector3s; | ||
| 193 | |||
| 194 | template <template <typename Scalar> class Model> | ||
| 195 | 16367 | explicit ControlParametrizationDataPolyTwoRKTpl(Model<Scalar>* const model) | |
| 196 |
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16367 | : Base(model), tmp_t2(0.) { |
| 197 |
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16367 | c.setZero(); |
| 198 | 16367 | } | |
| 199 | 32730 | virtual ~ControlParametrizationDataPolyTwoRKTpl() = default; | |
| 200 | |||
| 201 | Vector3s c; //!< Polynomial coefficients of the second-order control model | ||
| 202 | //!< that depends on time | ||
| 203 | Scalar tmp_t2; //!< Temporary variable to store the square of the time | ||
| 204 | }; | ||
| 205 | |||
| 206 | } // namespace crocoddyl | ||
| 207 | |||
| 208 | /* --- Details -------------------------------------------------------------- */ | ||
| 209 | /* --- Details -------------------------------------------------------------- */ | ||
| 210 | /* --- Details -------------------------------------------------------------- */ | ||
| 211 | #include "crocoddyl/core/controls/poly-two-rk.hxx" | ||
| 212 | |||
| 213 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( | ||
| 214 | crocoddyl::ControlParametrizationModelPolyTwoRKTpl) | ||
| 215 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 216 | crocoddyl::ControlParametrizationDataPolyTwoRKTpl) | ||
| 217 | |||
| 218 | #endif // CROCODDYL_CORE_CONTROLS_POLY_TWO_RK_HPP_ | ||
| 219 |