| 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 | ✗ | ControlParametrizationModelPolyTwoRKTpl< | |
| 14 | Scalar>::ControlParametrizationModelPolyTwoRKTpl(const std::size_t nw, | ||
| 15 | const RKType rktype) | ||
| 16 | ✗ | : Base(nw, 3 * nw), rktype_(rktype) { | |
| 17 | ✗ | if (rktype_ == RKType::two) { | |
| 18 | ✗ | std::cerr << "Invalid argument: RK2 parametrization is not supported" | |
| 19 | ✗ | << std::endl; | |
| 20 | } | ||
| 21 | ✗ | } | |
| 22 | |||
| 23 | template <typename Scalar> | ||
| 24 | ✗ | void ControlParametrizationModelPolyTwoRKTpl<Scalar>::calc( | |
| 25 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 26 | const Scalar t, const Eigen::Ref<const VectorXs>& u) const { | ||
| 27 | ✗ | if (static_cast<std::size_t>(u.size()) != nu_) { | |
| 28 | ✗ | throw_pretty( | |
| 29 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 30 | std::to_string(nu_) + ")"); | ||
| 31 | } | ||
| 32 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 33 | ✗ | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs> >& p0 = u.head(nw_); | |
| 34 | ✗ | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs> >& p1 = | |
| 35 | ✗ | u.segment(nw_, nw_); | |
| 36 | ✗ | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs> >& p2 = u.tail(nw_); | |
| 37 | ✗ | d->tmp_t2 = t * t; | |
| 38 | ✗ | switch (rktype_) { | |
| 39 | ✗ | case two: | |
| 40 | ✗ | std::cerr << "Invalid argument: RK2 parametrization is not supported" | |
| 41 | ✗ | << std::endl; | |
| 42 | ✗ | break; | |
| 43 | ✗ | case three: | |
| 44 | ✗ | d->c[2] = Scalar(4.5) * d->tmp_t2 - Scalar(1.5) * t; | |
| 45 | ✗ | d->c[1] = -Scalar(9.) * d->tmp_t2 + Scalar(6.) * t; | |
| 46 | ✗ | d->c[0] = Scalar(4.5) * (d->tmp_t2 - t) + Scalar(1.); | |
| 47 | ✗ | break; | |
| 48 | ✗ | case four: | |
| 49 | ✗ | d->c[2] = Scalar(2.) * d->tmp_t2 - t; | |
| 50 | ✗ | d->c[1] = -Scalar(2.) * d->c[2] + Scalar(2.) * t; | |
| 51 | ✗ | d->c[0] = d->c[2] - Scalar(2.) * t + Scalar(1.); | |
| 52 | ✗ | break; | |
| 53 | } | ||
| 54 | ✗ | d->w = d->c[2] * p2 + d->c[1] * p1 + d->c[0] * p0; | |
| 55 | ✗ | } | |
| 56 | |||
| 57 | template <typename Scalar> | ||
| 58 | ✗ | void ControlParametrizationModelPolyTwoRKTpl<Scalar>::calcDiff( | |
| 59 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 60 | const Scalar, const Eigen::Ref<const VectorXs>&) const { | ||
| 61 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 62 | ✗ | d->dw_du.leftCols(nw_).diagonal().array() = d->c[0]; | |
| 63 | ✗ | d->dw_du.middleCols(nw_, nw_).diagonal().array() = d->c[1]; | |
| 64 | ✗ | d->dw_du.rightCols(nw_).diagonal().array() = d->c[2]; | |
| 65 | ✗ | } | |
| 66 | |||
| 67 | template <typename Scalar> | ||
| 68 | std::shared_ptr<ControlParametrizationDataAbstractTpl<Scalar> > | ||
| 69 | ✗ | ControlParametrizationModelPolyTwoRKTpl<Scalar>::createData() { | |
| 70 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 71 | } | ||
| 72 | |||
| 73 | template <typename Scalar> | ||
| 74 | ✗ | void ControlParametrizationModelPolyTwoRKTpl<Scalar>::params( | |
| 75 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 76 | const Scalar, const Eigen::Ref<const VectorXs>& w) const { | ||
| 77 | ✗ | if (static_cast<std::size_t>(w.size()) != nw_) { | |
| 78 | ✗ | throw_pretty( | |
| 79 | "Invalid argument: " << "w has wrong dimension (it should be " + | ||
| 80 | std::to_string(nw_) + ")"); | ||
| 81 | } | ||
| 82 | ✗ | data->u.head(nw_) = w; | |
| 83 | ✗ | data->u.segment(nw_, nw_) = w; | |
| 84 | ✗ | data->u.tail(nw_) = w; | |
| 85 | ✗ | } | |
| 86 | |||
| 87 | template <typename Scalar> | ||
| 88 | ✗ | void ControlParametrizationModelPolyTwoRKTpl<Scalar>::convertBounds( | |
| 89 | const Eigen::Ref<const VectorXs>& w_lb, | ||
| 90 | const Eigen::Ref<const VectorXs>& w_ub, Eigen::Ref<VectorXs> u_lb, | ||
| 91 | Eigen::Ref<VectorXs> u_ub) const { | ||
| 92 | ✗ | if (static_cast<std::size_t>(u_lb.size()) != nu_) { | |
| 93 | ✗ | throw_pretty( | |
| 94 | "Invalid argument: " << "u_lb has wrong dimension (it should be " + | ||
| 95 | std::to_string(nu_) + ")"); | ||
| 96 | } | ||
| 97 | ✗ | if (static_cast<std::size_t>(u_ub.size()) != nu_) { | |
| 98 | ✗ | throw_pretty( | |
| 99 | "Invalid argument: " << "u_ub has wrong dimension (it should be " + | ||
| 100 | std::to_string(nu_) + ")"); | ||
| 101 | } | ||
| 102 | ✗ | if (static_cast<std::size_t>(w_lb.size()) != nw_) { | |
| 103 | ✗ | throw_pretty( | |
| 104 | "Invalid argument: " << "w_lb has wrong dimension (it should be " + | ||
| 105 | std::to_string(nw_) + ")"); | ||
| 106 | } | ||
| 107 | ✗ | if (static_cast<std::size_t>(w_ub.size()) != nw_) { | |
| 108 | ✗ | throw_pretty( | |
| 109 | "Invalid argument: " << "w_ub has wrong dimension (it should be " + | ||
| 110 | std::to_string(nw_) + ")"); | ||
| 111 | } | ||
| 112 | ✗ | u_lb.head(nw_) = w_lb; | |
| 113 | ✗ | u_lb.segment(nw_, nw_) = w_lb; | |
| 114 | ✗ | u_lb.tail(nw_) = w_lb; | |
| 115 | ✗ | u_ub.head(nw_) = w_ub; | |
| 116 | ✗ | u_ub.segment(nw_, nw_) = w_ub; | |
| 117 | ✗ | u_ub.tail(nw_) = w_ub; | |
| 118 | ✗ | } | |
| 119 | |||
| 120 | template <typename Scalar> | ||
| 121 | ✗ | void ControlParametrizationModelPolyTwoRKTpl<Scalar>::multiplyByJacobian( | |
| 122 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 123 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 124 | const AssignmentOp op) const { | ||
| 125 | ✗ | assert_pretty(is_a_AssignmentOp(op), | |
| 126 | ("op must be one of the AssignmentOp {settop, addto, rmfrom}")); | ||
| 127 | ✗ | if (A.rows() != out.rows() || static_cast<std::size_t>(A.cols()) != nw_ || | |
| 128 | ✗ | static_cast<std::size_t>(out.cols()) != nu_) { | |
| 129 | ✗ | throw_pretty("Invalid argument: " << "A and out have wrong dimensions (" + | |
| 130 | std::to_string(A.rows()) + "," + | ||
| 131 | std::to_string(A.cols()) + | ||
| 132 | " and " + | ||
| 133 | std::to_string(out.rows()) + "," + | ||
| 134 | std::to_string(out.cols()) + +")"); | ||
| 135 | } | ||
| 136 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 137 | ✗ | switch (op) { | |
| 138 | ✗ | case setto: | |
| 139 | ✗ | out.leftCols(nw_) = d->c[0] * A; | |
| 140 | ✗ | out.middleCols(nw_, nw_) = d->c[1] * A; | |
| 141 | ✗ | out.rightCols(nw_) = d->c[2] * A; | |
| 142 | ✗ | break; | |
| 143 | ✗ | case addto: | |
| 144 | ✗ | out.leftCols(nw_) += d->c[0] * A; | |
| 145 | ✗ | out.middleCols(nw_, nw_) += d->c[1] * A; | |
| 146 | ✗ | out.rightCols(nw_) += d->c[2] * A; | |
| 147 | ✗ | break; | |
| 148 | ✗ | case rmfrom: | |
| 149 | ✗ | out.leftCols(nw_) -= d->c[0] * A; | |
| 150 | ✗ | out.middleCols(nw_, nw_) -= d->c[1] * A; | |
| 151 | ✗ | out.rightCols(nw_) -= d->c[2] * A; | |
| 152 | ✗ | break; | |
| 153 | ✗ | default: | |
| 154 | ✗ | throw_pretty("Invalid argument: allowed operators: setto, addto, rmfrom"); | |
| 155 | break; | ||
| 156 | } | ||
| 157 | ✗ | } | |
| 158 | |||
| 159 | template <typename Scalar> | ||
| 160 | ✗ | void ControlParametrizationModelPolyTwoRKTpl<Scalar>:: | |
| 161 | multiplyJacobianTransposeBy( | ||
| 162 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 163 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 164 | const AssignmentOp op) const { | ||
| 165 | ✗ | assert_pretty(is_a_AssignmentOp(op), | |
| 166 | ("op must be one of the AssignmentOp {settop, addto, rmfrom}")); | ||
| 167 | ✗ | if (A.cols() != out.cols() || static_cast<std::size_t>(A.rows()) != nw_ || | |
| 168 | ✗ | static_cast<std::size_t>(out.rows()) != nu_) { | |
| 169 | ✗ | throw_pretty("Invalid argument: " << "A and out have wrong dimensions (" + | |
| 170 | std::to_string(A.rows()) + "," + | ||
| 171 | std::to_string(A.cols()) + | ||
| 172 | " and " + | ||
| 173 | std::to_string(out.rows()) + "," + | ||
| 174 | std::to_string(out.cols()) + ")"); | ||
| 175 | } | ||
| 176 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 177 | ✗ | switch (op) { | |
| 178 | ✗ | case setto: | |
| 179 | ✗ | out.topRows(nw_) = d->c[0] * A; | |
| 180 | ✗ | out.middleRows(nw_, nw_) = d->c[1] * A; | |
| 181 | ✗ | out.bottomRows(nw_) = d->c[2] * A; | |
| 182 | ✗ | break; | |
| 183 | ✗ | case addto: | |
| 184 | ✗ | out.topRows(nw_) += d->c[0] * A; | |
| 185 | ✗ | out.middleRows(nw_, nw_) += d->c[1] * A; | |
| 186 | ✗ | out.bottomRows(nw_) += d->c[2] * A; | |
| 187 | ✗ | break; | |
| 188 | ✗ | case rmfrom: | |
| 189 | ✗ | out.topRows(nw_) -= d->c[0] * A; | |
| 190 | ✗ | out.middleRows(nw_, nw_) -= d->c[1] * A; | |
| 191 | ✗ | out.bottomRows(nw_) -= d->c[2] * A; | |
| 192 | ✗ | break; | |
| 193 | ✗ | default: | |
| 194 | ✗ | throw_pretty("Invalid argument: allowed operators: setto, addto, rmfrom"); | |
| 195 | break; | ||
| 196 | } | ||
| 197 | ✗ | } | |
| 198 | |||
| 199 | template <typename Scalar> | ||
| 200 | template <typename NewScalar> | ||
| 201 | ControlParametrizationModelPolyTwoRKTpl<NewScalar> | ||
| 202 | ✗ | ControlParametrizationModelPolyTwoRKTpl<Scalar>::cast() const { | |
| 203 | typedef ControlParametrizationModelPolyTwoRKTpl<NewScalar> ReturnType; | ||
| 204 | ✗ | ReturnType ret(nw_, rktype_); | |
| 205 | ✗ | return ret; | |
| 206 | } | ||
| 207 | |||
| 208 | template <typename Scalar> | ||
| 209 | ✗ | void ControlParametrizationModelPolyTwoRKTpl<Scalar>::print( | |
| 210 | std::ostream& os) const { | ||
| 211 | ✗ | os << "ControlParametrizationModelPolyTwoRK {nw=" << nw_; | |
| 212 | ✗ | switch (rktype_) { | |
| 213 | ✗ | case two: | |
| 214 | ✗ | os << ", rktype=two}"; | |
| 215 | ✗ | break; | |
| 216 | ✗ | case three: | |
| 217 | ✗ | os << ", rktype=three}"; | |
| 218 | ✗ | break; | |
| 219 | ✗ | case four: | |
| 220 | ✗ | os << ", rktype=four}"; | |
| 221 | ✗ | break; | |
| 222 | } | ||
| 223 | ✗ | } | |
| 224 | |||
| 225 | } // namespace crocoddyl | ||
| 226 |