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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, 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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namespace crocoddyl { |
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template <typename Scalar> |
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ControlParametrizationModelPolyTwoRKTpl< |
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Scalar>::ControlParametrizationModelPolyTwoRKTpl(const std::size_t nw, |
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const RKType rktype) |
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: Base(nw, 3 * nw), rktype_(rktype) { |
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if (rktype_ == RKType::two) { |
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std::cerr << "Invalid argument: RK2 parametrization is not supported" |
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<< std::endl; |
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} |
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} |
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template <typename Scalar> |
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void ControlParametrizationModelPolyTwoRKTpl<Scalar>::calc( |
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const std::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Scalar t, const Eigen::Ref<const VectorXs>& u) const { |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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Data* d = static_cast<Data*>(data.get()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs> >& p0 = u.head(nw_); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs> >& p1 = |
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u.segment(nw_, nw_); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs> >& p2 = u.tail(nw_); |
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d->tmp_t2 = t * t; |
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switch (rktype_) { |
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case two: |
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std::cerr << "Invalid argument: RK2 parametrization is not supported" |
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<< std::endl; |
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break; |
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case three: |
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d->c[2] = Scalar(4.5) * d->tmp_t2 - Scalar(1.5) * t; |
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d->c[1] = -Scalar(9.) * d->tmp_t2 + Scalar(6.) * t; |
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d->c[0] = Scalar(4.5) * (d->tmp_t2 - t) + Scalar(1.); |
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break; |
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case four: |
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d->c[2] = Scalar(2.) * d->tmp_t2 - t; |
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d->c[1] = -Scalar(2.) * d->c[2] + Scalar(2.) * t; |
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d->c[0] = d->c[2] - Scalar(2.) * t + Scalar(1.); |
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break; |
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} |
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d->w = d->c[2] * p2 + d->c[1] * p1 + d->c[0] * p0; |
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} |
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template <typename Scalar> |
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void ControlParametrizationModelPolyTwoRKTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Scalar, const Eigen::Ref<const VectorXs>&) const { |
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Data* d = static_cast<Data*>(data.get()); |
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d->dw_du.leftCols(nw_).diagonal().array() = d->c[0]; |
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d->dw_du.middleCols(nw_, nw_).diagonal().array() = d->c[1]; |
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d->dw_du.rightCols(nw_).diagonal().array() = d->c[2]; |
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} |
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template <typename Scalar> |
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std::shared_ptr<ControlParametrizationDataAbstractTpl<Scalar> > |
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ControlParametrizationModelPolyTwoRKTpl<Scalar>::createData() { |
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return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
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} |
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template <typename Scalar> |
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void ControlParametrizationModelPolyTwoRKTpl<Scalar>::params( |
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const std::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Scalar, const Eigen::Ref<const VectorXs>& w) const { |
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if (static_cast<std::size_t>(w.size()) != nw_) { |
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throw_pretty( |
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"Invalid argument: " << "w has wrong dimension (it should be " + |
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std::to_string(nw_) + ")"); |
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} |
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data->u.head(nw_) = w; |
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data->u.segment(nw_, nw_) = w; |
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data->u.tail(nw_) = w; |
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} |
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template <typename Scalar> |
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void ControlParametrizationModelPolyTwoRKTpl<Scalar>::convertBounds( |
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const Eigen::Ref<const VectorXs>& w_lb, |
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const Eigen::Ref<const VectorXs>& w_ub, Eigen::Ref<VectorXs> u_lb, |
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Eigen::Ref<VectorXs> u_ub) const { |
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if (static_cast<std::size_t>(u_lb.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u_lb has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (static_cast<std::size_t>(u_ub.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u_ub has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (static_cast<std::size_t>(w_lb.size()) != nw_) { |
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throw_pretty( |
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"Invalid argument: " << "w_lb has wrong dimension (it should be " + |
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std::to_string(nw_) + ")"); |
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} |
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if (static_cast<std::size_t>(w_ub.size()) != nw_) { |
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throw_pretty( |
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"Invalid argument: " << "w_ub has wrong dimension (it should be " + |
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std::to_string(nw_) + ")"); |
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} |
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u_lb.head(nw_) = w_lb; |
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u_lb.segment(nw_, nw_) = w_lb; |
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u_lb.tail(nw_) = w_lb; |
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u_ub.head(nw_) = w_ub; |
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u_ub.segment(nw_, nw_) = w_ub; |
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u_ub.tail(nw_) = w_ub; |
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} |
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template <typename Scalar> |
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void ControlParametrizationModelPolyTwoRKTpl<Scalar>::multiplyByJacobian( |
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const std::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, |
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const AssignmentOp op) const { |
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assert_pretty(is_a_AssignmentOp(op), |
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("op must be one of the AssignmentOp {settop, addto, rmfrom}")); |
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if (A.rows() != out.rows() || static_cast<std::size_t>(A.cols()) != nw_ || |
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static_cast<std::size_t>(out.cols()) != nu_) { |
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throw_pretty("Invalid argument: " << "A and out have wrong dimensions (" + |
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std::to_string(A.rows()) + "," + |
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std::to_string(A.cols()) + |
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" and " + |
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std::to_string(out.rows()) + "," + |
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std::to_string(out.cols()) + +")"); |
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} |
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Data* d = static_cast<Data*>(data.get()); |
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switch (op) { |
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case setto: |
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out.leftCols(nw_) = d->c[0] * A; |
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out.middleCols(nw_, nw_) = d->c[1] * A; |
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out.rightCols(nw_) = d->c[2] * A; |
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break; |
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case addto: |
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out.leftCols(nw_) += d->c[0] * A; |
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out.middleCols(nw_, nw_) += d->c[1] * A; |
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out.rightCols(nw_) += d->c[2] * A; |
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break; |
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case rmfrom: |
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out.leftCols(nw_) -= d->c[0] * A; |
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out.middleCols(nw_, nw_) -= d->c[1] * A; |
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out.rightCols(nw_) -= d->c[2] * A; |
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break; |
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default: |
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throw_pretty("Invalid argument: allowed operators: setto, addto, rmfrom"); |
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break; |
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} |
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} |
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template <typename Scalar> |
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void ControlParametrizationModelPolyTwoRKTpl<Scalar>:: |
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multiplyJacobianTransposeBy( |
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const std::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, |
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const AssignmentOp op) const { |
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assert_pretty(is_a_AssignmentOp(op), |
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("op must be one of the AssignmentOp {settop, addto, rmfrom}")); |
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if (A.cols() != out.cols() || static_cast<std::size_t>(A.rows()) != nw_ || |
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static_cast<std::size_t>(out.rows()) != nu_) { |
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throw_pretty("Invalid argument: " << "A and out have wrong dimensions (" + |
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std::to_string(A.rows()) + "," + |
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std::to_string(A.cols()) + |
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" and " + |
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std::to_string(out.rows()) + "," + |
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std::to_string(out.cols()) + ")"); |
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} |
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Data* d = static_cast<Data*>(data.get()); |
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switch (op) { |
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case setto: |
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out.topRows(nw_) = d->c[0] * A; |
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out.middleRows(nw_, nw_) = d->c[1] * A; |
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out.bottomRows(nw_) = d->c[2] * A; |
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break; |
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case addto: |
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out.topRows(nw_) += d->c[0] * A; |
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out.middleRows(nw_, nw_) += d->c[1] * A; |
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out.bottomRows(nw_) += d->c[2] * A; |
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break; |
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case rmfrom: |
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out.topRows(nw_) -= d->c[0] * A; |
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out.middleRows(nw_, nw_) -= d->c[1] * A; |
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out.bottomRows(nw_) -= d->c[2] * A; |
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break; |
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default: |
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throw_pretty("Invalid argument: allowed operators: setto, addto, rmfrom"); |
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break; |
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} |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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ControlParametrizationModelPolyTwoRKTpl<NewScalar> |
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ControlParametrizationModelPolyTwoRKTpl<Scalar>::cast() const { |
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typedef ControlParametrizationModelPolyTwoRKTpl<NewScalar> ReturnType; |
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ReturnType ret(nw_, rktype_); |
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return ret; |
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} |
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template <typename Scalar> |
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void ControlParametrizationModelPolyTwoRKTpl<Scalar>::print( |
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std::ostream& os) const { |
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os << "ControlParametrizationModelPolyTwoRK {nw=" << nw_; |
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switch (rktype_) { |
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case two: |
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os << ", rktype=two}"; |
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break; |
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case three: |
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os << ", rktype=three}"; |
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break; |
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case four: |
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os << ", rktype=four}"; |
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break; |
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} |
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} |
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} // namespace crocoddyl |
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