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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, 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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ResidualModelAbstractTpl<Scalar>::ResidualModelAbstractTpl( |
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std::shared_ptr<StateAbstract> state, const std::size_t nr, |
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const std::size_t nu, const bool q_dependent, const bool v_dependent, |
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const bool u_dependent) |
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: state_(state), |
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nr_(nr), |
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nu_(nu), |
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unone_(VectorXs::Zero(nu)), |
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q_dependent_(q_dependent), |
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v_dependent_(v_dependent), |
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u_dependent_(u_dependent) {} |
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template <typename Scalar> |
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ResidualModelAbstractTpl<Scalar>::ResidualModelAbstractTpl( |
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std::shared_ptr<StateAbstract> state, const std::size_t nr, |
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const bool q_dependent, const bool v_dependent, const bool u_dependent) |
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: state_(state), |
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nr_(nr), |
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nu_(state->get_nv()), |
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unone_(VectorXs::Zero(state->get_nv())), |
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q_dependent_(q_dependent), |
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v_dependent_(v_dependent), |
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u_dependent_(u_dependent) {} |
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template <typename Scalar> |
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void ResidualModelAbstractTpl<Scalar>::calc( |
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const std::shared_ptr<ResidualDataAbstract>&, |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) {} |
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template <typename Scalar> |
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void ResidualModelAbstractTpl<Scalar>::calc( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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calc(data, x, unone_); |
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} |
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template <typename Scalar> |
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void ResidualModelAbstractTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ResidualDataAbstract>&, |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) {} |
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template <typename Scalar> |
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void ResidualModelAbstractTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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calcDiff(data, x, unone_); |
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} |
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template <typename Scalar> |
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std::shared_ptr<ResidualDataAbstractTpl<Scalar> > |
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ResidualModelAbstractTpl<Scalar>::createData( |
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DataCollectorAbstract* const data) { |
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return std::allocate_shared<ResidualDataAbstract>( |
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Eigen::aligned_allocator<ResidualDataAbstract>(), this, data); |
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} |
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template <typename Scalar> |
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void ResidualModelAbstractTpl<Scalar>::calcCostDiff( |
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const std::shared_ptr<CostDataAbstract>& cdata, |
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const std::shared_ptr<ResidualDataAbstract>& rdata, |
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const std::shared_ptr<ActivationDataAbstract>& adata, const bool update_u) { |
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// This function computes the derivatives of the cost function based on a |
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// Gauss-Newton approximation |
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const bool is_ru = u_dependent_ && nu_ != 0 && update_u; |
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const std::size_t nv = state_->get_nv(); |
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if (is_ru) { |
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cdata->Lu.noalias() = rdata->Ru.transpose() * adata->Ar; |
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rdata->Arr_Ru.noalias() = adata->Arr.diagonal().asDiagonal() * rdata->Ru; |
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cdata->Luu.noalias() = rdata->Ru.transpose() * rdata->Arr_Ru; |
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} |
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if (q_dependent_ && v_dependent_) { |
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cdata->Lx.noalias() = rdata->Rx.transpose() * adata->Ar; |
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rdata->Arr_Rx.noalias() = adata->Arr.diagonal().asDiagonal() * rdata->Rx; |
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cdata->Lxx.noalias() = rdata->Rx.transpose() * rdata->Arr_Rx; |
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if (is_ru) { |
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cdata->Lxu.noalias() = rdata->Rx.transpose() * rdata->Arr_Ru; |
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} |
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} else if (q_dependent_) { |
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Eigen::Block<MatrixXs, Eigen::Dynamic, Eigen::Dynamic, true> Rq = |
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rdata->Rx.leftCols(nv); |
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cdata->Lx.head(nv).noalias() = Rq.transpose() * adata->Ar; |
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rdata->Arr_Rx.leftCols(nv).noalias() = |
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adata->Arr.diagonal().asDiagonal() * Rq; |
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cdata->Lxx.topLeftCorner(nv, nv).noalias() = |
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Rq.transpose() * rdata->Arr_Rx.leftCols(nv); |
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if (is_ru) { |
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cdata->Lxu.topRows(nv).noalias() = Rq.transpose() * rdata->Arr_Ru; |
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} |
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} else if (v_dependent_) { |
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Eigen::Block<MatrixXs, Eigen::Dynamic, Eigen::Dynamic, true> Rv = |
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rdata->Rx.rightCols(nv); |
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cdata->Lx.tail(nv).noalias() = Rv.transpose() * adata->Ar; |
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rdata->Arr_Rx.rightCols(nv).noalias() = |
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adata->Arr.diagonal().asDiagonal() * Rv; |
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cdata->Lxx.bottomRightCorner(nv, nv).noalias() = |
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Rv.transpose() * rdata->Arr_Rx.rightCols(nv); |
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if (is_ru) { |
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cdata->Lxu.bottomRows(nv).noalias() = Rv.transpose() * rdata->Arr_Ru; |
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} |
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} |
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} |
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template <typename Scalar> |
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void ResidualModelAbstractTpl<Scalar>::print(std::ostream& os) const { |
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os << boost::core::demangle(typeid(*this).name()); |
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} |
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template <typename Scalar> |
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const std::shared_ptr<StateAbstractTpl<Scalar> >& |
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ResidualModelAbstractTpl<Scalar>::get_state() const { |
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return state_; |
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} |
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template <typename Scalar> |
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std::size_t ResidualModelAbstractTpl<Scalar>::get_nr() const { |
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return nr_; |
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} |
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template <typename Scalar> |
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std::size_t ResidualModelAbstractTpl<Scalar>::get_nu() const { |
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return nu_; |
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} |
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template <typename Scalar> |
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bool ResidualModelAbstractTpl<Scalar>::get_q_dependent() const { |
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return q_dependent_; |
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} |
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template <typename Scalar> |
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bool ResidualModelAbstractTpl<Scalar>::get_v_dependent() const { |
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return v_dependent_; |
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} |
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template <typename Scalar> |
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bool ResidualModelAbstractTpl<Scalar>::get_u_dependent() const { |
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return u_dependent_; |
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} |
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template <typename Scalar> |
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std::ostream& operator<<(std::ostream& os, |
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const ResidualModelAbstractTpl<Scalar>& model) { |
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model.print(os); |
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return os; |
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} |
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} // namespace crocoddyl |
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