| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/core/controls/poly-zero.hxx |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 49 | 70 | 70.0% |
| Branches: | 24 | 254 | 9.4% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021, University of Edinburgh, University of Trento | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | namespace crocoddyl { | ||
| 10 | |||
| 11 | template <typename Scalar> | ||
| 12 | 681 | ControlParametrizationModelPolyZeroTpl< | |
| 13 | Scalar>::ControlParametrizationModelPolyZeroTpl(const std::size_t nw) | ||
| 14 | 681 | : Base(nw, nw) {} | |
| 15 | |||
| 16 | template <typename Scalar> | ||
| 17 | 2122 | ControlParametrizationModelPolyZeroTpl< | |
| 18 | 2122 | Scalar>::~ControlParametrizationModelPolyZeroTpl() {} | |
| 19 | |||
| 20 | template <typename Scalar> | ||
| 21 | 54666 | void ControlParametrizationModelPolyZeroTpl<Scalar>::calc( | |
| 22 | const boost::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 23 | const Scalar, const Eigen::Ref<const VectorXs>& u) const { | ||
| 24 |
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54666 | if (static_cast<std::size_t>(u.size()) != nu_) { |
| 25 | ✗ | throw_pretty( | |
| 26 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 27 | std::to_string(nu_) + ")"); | ||
| 28 | } | ||
| 29 | 54666 | data->w = u; | |
| 30 | 54666 | } | |
| 31 | |||
| 32 | template <typename Scalar> | ||
| 33 | #ifndef NDEBUG | ||
| 34 | 3 | void ControlParametrizationModelPolyZeroTpl<Scalar>::calcDiff( | |
| 35 | const boost::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 36 | const Scalar, const Eigen::Ref<const VectorXs>&) const { | ||
| 37 | #else | ||
| 38 | void ControlParametrizationModelPolyZeroTpl<Scalar>::calcDiff( | ||
| 39 | const boost::shared_ptr<ControlParametrizationDataAbstract>&, const Scalar, | ||
| 40 | const Eigen::Ref<const VectorXs>&) const { | ||
| 41 | #endif | ||
| 42 | // The Hessian has constant values which were set in createData. | ||
| 43 |
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3 | assert_pretty(MatrixXs(data->dw_du).isApprox(MatrixXs::Identity(nu_, nu_)), |
| 44 | "dw_du has wrong value"); | ||
| 45 | 3 | } | |
| 46 | |||
| 47 | template <typename Scalar> | ||
| 48 | boost::shared_ptr<ControlParametrizationDataAbstractTpl<Scalar> > | ||
| 49 | 72163 | ControlParametrizationModelPolyZeroTpl<Scalar>::createData() { | |
| 50 |
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72163 | boost::shared_ptr<Data> data = |
| 51 | 72163 | boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 52 |
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72163 | data->dw_du.setIdentity(); |
| 53 | 72163 | return data; | |
| 54 | } | ||
| 55 | |||
| 56 | template <typename Scalar> | ||
| 57 | 7360 | void ControlParametrizationModelPolyZeroTpl<Scalar>::params( | |
| 58 | const boost::shared_ptr<ControlParametrizationDataAbstract>& data, | ||
| 59 | const Scalar, const Eigen::Ref<const VectorXs>& w) const { | ||
| 60 |
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7360 | if (static_cast<std::size_t>(w.size()) != nw_) { |
| 61 | ✗ | throw_pretty( | |
| 62 | "Invalid argument: " << "w has wrong dimension (it should be " + | ||
| 63 | std::to_string(nw_) + ")"); | ||
| 64 | } | ||
| 65 | 7360 | data->u = w; | |
| 66 | 7360 | } | |
| 67 | |||
| 68 | template <typename Scalar> | ||
| 69 | 677 | void ControlParametrizationModelPolyZeroTpl<Scalar>::convertBounds( | |
| 70 | const Eigen::Ref<const VectorXs>& w_lb, | ||
| 71 | const Eigen::Ref<const VectorXs>& w_ub, Eigen::Ref<VectorXs> u_lb, | ||
| 72 | Eigen::Ref<VectorXs> u_ub) const { | ||
| 73 |
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677 | if (static_cast<std::size_t>(u_lb.size()) != nu_) { |
| 74 | ✗ | throw_pretty( | |
| 75 | "Invalid argument: " << "u_lb has wrong dimension (it should be " + | ||
| 76 | std::to_string(nu_) + ")"); | ||
| 77 | } | ||
| 78 |
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677 | if (static_cast<std::size_t>(u_ub.size()) != nu_) { |
| 79 | ✗ | throw_pretty( | |
| 80 | "Invalid argument: " << "u_ub has wrong dimension (it should be " + | ||
| 81 | std::to_string(nu_) + ")"); | ||
| 82 | } | ||
| 83 |
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677 | if (static_cast<std::size_t>(w_lb.size()) != nw_) { |
| 84 | ✗ | throw_pretty( | |
| 85 | "Invalid argument: " << "w_lb has wrong dimension (it should be " + | ||
| 86 | std::to_string(nw_) + ")"); | ||
| 87 | } | ||
| 88 |
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677 | if (static_cast<std::size_t>(w_ub.size()) != nw_) { |
| 89 | ✗ | throw_pretty( | |
| 90 | "Invalid argument: " << "w_ub has wrong dimension (it should be " + | ||
| 91 | std::to_string(nw_) + ")"); | ||
| 92 | } | ||
| 93 | 677 | u_lb = w_lb; | |
| 94 | 677 | u_ub = w_ub; | |
| 95 | 677 | } | |
| 96 | |||
| 97 | template <typename Scalar> | ||
| 98 | 66549 | void ControlParametrizationModelPolyZeroTpl<Scalar>::multiplyByJacobian( | |
| 99 | const boost::shared_ptr<ControlParametrizationDataAbstract>&, | ||
| 100 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 101 | const AssignmentOp op) const { | ||
| 102 |
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66549 | assert_pretty(is_a_AssignmentOp(op), |
| 103 | ("op must be one of the AssignmentOp {settop, addto, rmfrom}")); | ||
| 104 |
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133098 | if (A.rows() != out.rows() || static_cast<std::size_t>(A.cols()) != nw_ || |
| 105 |
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66549 | static_cast<std::size_t>(out.cols()) != nu_) { |
| 106 | ✗ | throw_pretty("Invalid argument: " << "A and out have wrong dimensions (" + | |
| 107 | std::to_string(A.rows()) + "," + | ||
| 108 | std::to_string(A.cols()) + | ||
| 109 | " and " + | ||
| 110 | std::to_string(out.rows()) + "," + | ||
| 111 | std::to_string(out.cols()) + ")"); | ||
| 112 | } | ||
| 113 |
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66549 | switch (op) { |
| 114 | 58122 | case setto: | |
| 115 | 58122 | out = A; | |
| 116 | 58122 | break; | |
| 117 | 8427 | case addto: | |
| 118 | 8427 | out += A; | |
| 119 | 8427 | break; | |
| 120 | ✗ | case rmfrom: | |
| 121 | ✗ | out -= A; | |
| 122 | ✗ | break; | |
| 123 | ✗ | default: | |
| 124 | ✗ | throw_pretty("Invalid argument: allowed operators: setto, addto, rmfrom"); | |
| 125 | break; | ||
| 126 | } | ||
| 127 | 66549 | } | |
| 128 | |||
| 129 | template <typename Scalar> | ||
| 130 | 29991 | void ControlParametrizationModelPolyZeroTpl<Scalar>:: | |
| 131 | multiplyJacobianTransposeBy( | ||
| 132 | const boost::shared_ptr<ControlParametrizationDataAbstract>&, | ||
| 133 | const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out, | ||
| 134 | const AssignmentOp op) const { | ||
| 135 |
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29991 | assert_pretty(is_a_AssignmentOp(op), |
| 136 | ("op must be one of the AssignmentOp {settop, addto, rmfrom}")); | ||
| 137 |
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59982 | if (A.cols() != out.cols() || static_cast<std::size_t>(A.rows()) != nw_ || |
| 138 |
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29991 | static_cast<std::size_t>(out.rows()) != nu_) { |
| 139 | ✗ | throw_pretty("Invalid argument: " << "A and out have wrong dimensions (" + | |
| 140 | std::to_string(A.rows()) + "," + | ||
| 141 | std::to_string(A.cols()) + | ||
| 142 | " and " + | ||
| 143 | std::to_string(out.rows()) + "," + | ||
| 144 | std::to_string(out.cols()) + ")"); | ||
| 145 | } | ||
| 146 |
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29991 | switch (op) { |
| 147 | 29991 | case setto: | |
| 148 | 29991 | out = A; | |
| 149 | 29991 | break; | |
| 150 | ✗ | case addto: | |
| 151 | ✗ | out += A; | |
| 152 | ✗ | break; | |
| 153 | ✗ | case rmfrom: | |
| 154 | ✗ | out -= A; | |
| 155 | ✗ | break; | |
| 156 | ✗ | default: | |
| 157 | ✗ | throw_pretty("Invalid argument: allowed operators: setto, addto, rmfrom"); | |
| 158 | break; | ||
| 159 | } | ||
| 160 | 29991 | } | |
| 161 | |||
| 162 | } // namespace crocoddyl | ||
| 163 |