| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/core/controls/poly-zero.hxx |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 50 | 73 | 68.5% |
| Branches: | 24 | 254 | 9.4% |
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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 | namespace crocoddyl { | ||
| 11 | |||
| 12 | template <typename Scalar> | ||
| 13 | 684 | ControlParametrizationModelPolyZeroTpl< | |
| 14 | Scalar>::ControlParametrizationModelPolyZeroTpl(const std::size_t nw) | ||
| 15 | 684 | : Base(nw, nw) {} | |
| 16 | |||
| 17 | template <typename Scalar> | ||
| 18 | 53933 | void ControlParametrizationModelPolyZeroTpl<Scalar>::calc( | |
| 19 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 20 | const Scalar, const Eigen::Ref<const VectorXs>& u) const { | ||
| 21 |
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53933 | 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 | 53933 | data->w = u; | |
| 27 | 53933 | } | |
| 28 | |||
| 29 | template <typename Scalar> | ||
| 30 | #ifndef NDEBUG | ||
| 31 | 6 | void ControlParametrizationModelPolyZeroTpl<Scalar>::calcDiff( | |
| 32 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 33 | const Scalar, const Eigen::Ref<const VectorXs>&) const { | ||
| 34 | #else | ||
| 35 | void ControlParametrizationModelPolyZeroTpl<Scalar>::calcDiff( | ||
| 36 | const std::shared_ptr<ControlParametrizationDataAbstract>&, const Scalar, | ||
| 37 | const Eigen::Ref<const VectorXs>&) const { | ||
| 38 | #endif | ||
| 39 | // The Hessian has constant values which were set in createData. | ||
| 40 |
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6 | assert_pretty(MatrixXs(data->dw_du).isApprox(MatrixXs::Identity(nu_, nu_)), |
| 41 | "dw_du has wrong value"); | ||
| 42 | 6 | } | |
| 43 | |||
| 44 | template <typename Scalar> | ||
| 45 | std::shared_ptr<ControlParametrizationDataAbstractTpl<Scalar> > | ||
| 46 | 71834 | ControlParametrizationModelPolyZeroTpl<Scalar>::createData() { | |
| 47 |
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71834 | std::shared_ptr<Data> data = |
| 48 | 71834 | std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 49 |
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71834 | data->dw_du.setIdentity(); |
| 50 | 71834 | return data; | |
| 51 | } | ||
| 52 | |||
| 53 | template <typename Scalar> | ||
| 54 | 7360 | void ControlParametrizationModelPolyZeroTpl<Scalar>::params( | |
| 55 | const std::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 56 | const Scalar, const Eigen::Ref<const VectorXs>& w) const { | ||
| 57 |
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7360 | if (static_cast<std::size_t>(w.size()) != nw_) { |
| 58 | ✗ | throw_pretty( | |
| 59 | "Invalid argument: " << "w has wrong dimension (it should be " + | ||
| 60 | std::to_string(nw_) + ")"); | ||
| 61 | } | ||
| 62 | 7360 | data->u = w; | |
| 63 | 7360 | } | |
| 64 | |||
| 65 | template <typename Scalar> | ||
| 66 | 677 | void ControlParametrizationModelPolyZeroTpl<Scalar>::convertBounds( | |
| 67 | const Eigen::Ref<const VectorXs>& w_lb, | ||
| 68 | const Eigen::Ref<const VectorXs>& w_ub, Eigen::Ref<VectorXs> u_lb, | ||
| 69 | Eigen::Ref<VectorXs> u_ub) const { | ||
| 70 |
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677 | if (static_cast<std::size_t>(u_lb.size()) != nu_) { |
| 71 | ✗ | throw_pretty( | |
| 72 | "Invalid argument: " << "u_lb has wrong dimension (it should be " + | ||
| 73 | std::to_string(nu_) + ")"); | ||
| 74 | } | ||
| 75 |
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677 | if (static_cast<std::size_t>(u_ub.size()) != nu_) { |
| 76 | ✗ | throw_pretty( | |
| 77 | "Invalid argument: " << "u_ub has wrong dimension (it should be " + | ||
| 78 | std::to_string(nu_) + ")"); | ||
| 79 | } | ||
| 80 |
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677 | if (static_cast<std::size_t>(w_lb.size()) != nw_) { |
| 81 | ✗ | throw_pretty( | |
| 82 | "Invalid argument: " << "w_lb has wrong dimension (it should be " + | ||
| 83 | std::to_string(nw_) + ")"); | ||
| 84 | } | ||
| 85 |
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677 | if (static_cast<std::size_t>(w_ub.size()) != nw_) { |
| 86 | ✗ | throw_pretty( | |
| 87 | "Invalid argument: " << "w_ub has wrong dimension (it should be " + | ||
| 88 | std::to_string(nw_) + ")"); | ||
| 89 | } | ||
| 90 | 677 | u_lb = w_lb; | |
| 91 | 677 | u_ub = w_ub; | |
| 92 | 677 | } | |
| 93 | |||
| 94 | template <typename Scalar> | ||
| 95 | 65240 | void ControlParametrizationModelPolyZeroTpl<Scalar>::multiplyByJacobian( | |
| 96 | const std::shared_ptr<ControlParametrizationDataAbstract>&, | ||
| 97 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 98 | const AssignmentOp op) const { | ||
| 99 |
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65240 | assert_pretty(is_a_AssignmentOp(op), |
| 100 | ("op must be one of the AssignmentOp {settop, addto, rmfrom}")); | ||
| 101 |
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130480 | if (A.rows() != out.rows() || static_cast<std::size_t>(A.cols()) != nw_ || |
| 102 |
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65240 | static_cast<std::size_t>(out.cols()) != nu_) { |
| 103 | ✗ | throw_pretty("Invalid argument: " << "A and out have wrong dimensions (" + | |
| 104 | std::to_string(A.rows()) + "," + | ||
| 105 | std::to_string(A.cols()) + | ||
| 106 | " and " + | ||
| 107 | std::to_string(out.rows()) + "," + | ||
| 108 | std::to_string(out.cols()) + ")"); | ||
| 109 | } | ||
| 110 |
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65240 | switch (op) { |
| 111 | 56813 | case setto: | |
| 112 | 56813 | out = A; | |
| 113 | 56813 | break; | |
| 114 | 8427 | case addto: | |
| 115 | 8427 | out += A; | |
| 116 | 8427 | break; | |
| 117 | ✗ | case rmfrom: | |
| 118 | ✗ | out -= A; | |
| 119 | ✗ | break; | |
| 120 | ✗ | default: | |
| 121 | ✗ | throw_pretty("Invalid argument: allowed operators: setto, addto, rmfrom"); | |
| 122 | break; | ||
| 123 | } | ||
| 124 | 65240 | } | |
| 125 | |||
| 126 | template <typename Scalar> | ||
| 127 | 29468 | void ControlParametrizationModelPolyZeroTpl<Scalar>:: | |
| 128 | multiplyJacobianTransposeBy( | ||
| 129 | const std::shared_ptr<ControlParametrizationDataAbstract>&, | ||
| 130 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 131 | const AssignmentOp op) const { | ||
| 132 |
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29468 | assert_pretty(is_a_AssignmentOp(op), |
| 133 | ("op must be one of the AssignmentOp {settop, addto, rmfrom}")); | ||
| 134 |
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58936 | if (A.cols() != out.cols() || static_cast<std::size_t>(A.rows()) != nw_ || |
| 135 |
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29468 | 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 |
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29468 | switch (op) { |
| 144 | 29468 | case setto: | |
| 145 | 29468 | out = A; | |
| 146 | 29468 | break; | |
| 147 | ✗ | case addto: | |
| 148 | ✗ | out += A; | |
| 149 | ✗ | break; | |
| 150 | ✗ | case rmfrom: | |
| 151 | ✗ | out -= A; | |
| 152 | ✗ | break; | |
| 153 | ✗ | default: | |
| 154 | ✗ | throw_pretty("Invalid argument: allowed operators: setto, addto, rmfrom"); | |
| 155 | break; | ||
| 156 | } | ||
| 157 | 29468 | } | |
| 158 | |||
| 159 | template <typename Scalar> | ||
| 160 | template <typename NewScalar> | ||
| 161 | ControlParametrizationModelPolyZeroTpl<NewScalar> | ||
| 162 | 3 | ControlParametrizationModelPolyZeroTpl<Scalar>::cast() const { | |
| 163 | typedef ControlParametrizationModelPolyZeroTpl<NewScalar> ReturnType; | ||
| 164 | 3 | ReturnType ret(nw_); | |
| 165 | 3 | return ret; | |
| 166 | } | ||
| 167 | |||
| 168 | template <typename Scalar> | ||
| 169 | ✗ | void ControlParametrizationModelPolyZeroTpl<Scalar>::print( | |
| 170 | std::ostream& os) const { | ||
| 171 | ✗ | os << "ControlParametrizationModelPolyZero {nw=" << nw_ << "}"; | |
| 172 | } | ||
| 173 | |||
| 174 | } // namespace crocoddyl | ||
| 175 |