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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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#ifndef CROCODDYL_CORE_CONTROLS_POLY_ZERO_HPP_ |
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#define CROCODDYL_CORE_CONTROLS_POLY_ZERO_HPP_ |
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#include "crocoddyl/core/control-base.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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namespace crocoddyl { |
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/** |
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* @brief A polynomial function of time of degree zero, that is a constant |
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* |
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* The main computations are carrying out in `calc`, `multiplyByJacobian` and |
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* `multiplyJacobianTransposeBy`, where the former computes control input |
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* \f$\mathbf{w}\in\mathbb{R}^{nw}\f$ from a set of control parameters |
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* \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ where `nw` and `nu` represent the |
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* dimension of the control inputs and parameters, respectively, and the latter |
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* defines useful operations across the Jacobian of the control-parametrization |
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* model. Finally, `params` allows us to obtain the control parameters from a |
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* the control input, i.e., it is the dual of `calc`. Note that |
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* `multiplyByJacobian` and `multiplyJacobianTransposeBy` requires to run `calc` |
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* first. |
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* |
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* \sa `ControlParametrizationAbstractTpl`, `calc()`, `calcDiff()`, |
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* `createData()`, `params`, `multiplyByJacobian`, `multiplyJacobianTransposeBy` |
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*/ |
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template <typename _Scalar> |
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class ControlParametrizationModelPolyZeroTpl |
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: public ControlParametrizationModelAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ControlParametrizationModelBase, |
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ControlParametrizationModelPolyZeroTpl) |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ControlParametrizationDataAbstractTpl<Scalar> |
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ControlParametrizationDataAbstract; |
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typedef ControlParametrizationModelAbstractTpl<Scalar> Base; |
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typedef ControlParametrizationDataAbstractTpl<Scalar> Data; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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/** |
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* @brief Initialize the poly-zero control parametrization |
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* |
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* @param[in] nw Dimension of control vector |
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*/ |
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explicit ControlParametrizationModelPolyZeroTpl(const std::size_t nw); |
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virtual ~ControlParametrizationModelPolyZeroTpl() = default; |
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/** |
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* @brief Get the value of the control at the specified time |
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* |
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* @param[in] data Control-parametrization data |
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* @param[in] t Time in [0,1] |
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* @param[in] u Control parameters |
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*/ |
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virtual void 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 override; |
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/** |
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* @brief Get the value of the Jacobian of the control with respect to the |
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* parameters |
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* |
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* It assumes that `calc()` has been run first |
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* |
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* @param[in] data Control-parametrization data |
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* @param[in] t Time in [0,1] |
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* @param[in] u Control parameters |
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*/ |
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virtual void calcDiff( |
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const std::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Scalar t, const Eigen::Ref<const VectorXs>& u) const override; |
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/** |
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* @brief Create the control-parametrization data |
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* |
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* @return the control-parametrization data |
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*/ |
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virtual std::shared_ptr<ControlParametrizationDataAbstract> createData() |
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override; |
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/** |
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* @brief Get a value of the control parameters such that the control at the |
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* specified time t is equal to the specified value u |
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* |
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* @param[in] data Control-parametrization data |
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* @param[in] t Time in [0,1] |
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* @param[in] w Control values |
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*/ |
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virtual void params( |
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const std::shared_ptr<ControlParametrizationDataAbstract>& data, |
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const Scalar t, const Eigen::Ref<const VectorXs>& w) const override; |
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/** |
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* @brief Map the specified bounds from the control space to the parameter |
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* space |
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* |
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* @param[in] w_lb Control lower bound |
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* @param[in] w_ub Control lower bound |
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* @param[out] u_lb Control parameters lower bound |
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* @param[out] u_ub Control parameters upper bound |
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*/ |
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virtual void convertBounds(const Eigen::Ref<const VectorXs>& w_lb, |
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const Eigen::Ref<const VectorXs>& w_ub, |
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Eigen::Ref<VectorXs> u_lb, |
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Eigen::Ref<VectorXs> u_ub) const override; |
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/** |
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* @brief Compute the product between a specified matrix and the Jacobian of |
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* the control (with respect to the parameters) |
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* |
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* It assumes that `calc()` has been run first |
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* |
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* @param[in] data Control-parametrization data |
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* @param[in] A A matrix to multiply times the Jacobian |
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* @param[out] out Product between the matrix A and the Jacobian of the |
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* control with respect to the parameters |
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* @param[in] op Assignment operator which sets, adds, or removes the |
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* given results |
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*/ |
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virtual void 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 = setto) const override; |
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/** |
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* @brief Compute the product between the transposed Jacobian of the control |
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* (with respect to the parameters) and a specified matrix |
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* |
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* It assumes that `calc()` has been run first |
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* |
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* @param[in] data Control-parametrization data |
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* @param[in] A A matrix to multiply times the Jacobian |
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* @param[out] out Product between the transposed Jacobian of the control |
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* with respect to the parameters and the matrix A |
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* @param[in] op Assignment operator which sets, adds, or removes the |
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* given results |
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*/ |
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virtual void 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 = setto) const override; |
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template <typename NewScalar> |
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ControlParametrizationModelPolyZeroTpl<NewScalar> cast() const; |
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virtual void print(std::ostream& os) const override; |
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protected: |
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using Base::nu_; |
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using Base::nw_; |
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}; |
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} // namespace crocoddyl |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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#include "crocoddyl/core/controls/poly-zero.hxx" |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( |
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crocoddyl::ControlParametrizationModelPolyZeroTpl) |
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#endif // CROCODDYL_CORE_CONTROLS_POLY_ZERO_HPP_ |
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