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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// University of Oxford, 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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#include "crocoddyl/core/utils/stop-watch.hpp" |
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namespace crocoddyl { |
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template <typename Scalar> |
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ShootingProblemTpl<Scalar>::ShootingProblemTpl( |
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const VectorXs& x0, |
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const std::vector<std::shared_ptr<ActionModelAbstract> >& running_models, |
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std::shared_ptr<ActionModelAbstract> terminal_model) |
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: cost_(Scalar(0.)), |
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T_(running_models.size()), |
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x0_(x0), |
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terminal_model_(terminal_model), |
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running_models_(running_models), |
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nx_(running_models[0]->get_state()->get_nx()), |
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ndx_(running_models[0]->get_state()->get_ndx()), |
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nthreads_(1), |
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is_updated_(false) { |
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if (static_cast<std::size_t>(x0.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x0 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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for (std::size_t i = 1; i < T_; ++i) { |
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const std::shared_ptr<ActionModelAbstract>& model = running_models_[i]; |
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if (model->get_state()->get_nx() != nx_) { |
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throw_pretty("Invalid argument: " |
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<< "nx in " << i |
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<< " node is not consistent with the other nodes") |
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} |
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if (model->get_state()->get_ndx() != ndx_) { |
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throw_pretty("Invalid argument: " |
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<< "ndx in " << i |
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<< " node is not consistent with the other nodes") |
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} |
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} |
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if (terminal_model_->get_state()->get_nx() != nx_) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "nx in terminal node is not consistent with the other nodes") |
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} |
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if (terminal_model_->get_state()->get_ndx() != ndx_) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "ndx in terminal node is not consistent with the other nodes") |
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} |
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allocateData(); |
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#ifdef CROCODDYL_WITH_MULTITHREADING |
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if (enableMultithreading()) { |
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nthreads_ = CROCODDYL_WITH_NTHREADS; |
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} |
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#endif |
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} |
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template <typename Scalar> |
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ShootingProblemTpl<Scalar>::ShootingProblemTpl( |
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const VectorXs& x0, |
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const std::vector<std::shared_ptr<ActionModelAbstract> >& running_models, |
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std::shared_ptr<ActionModelAbstract> terminal_model, |
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const std::vector<std::shared_ptr<ActionDataAbstract> >& running_datas, |
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std::shared_ptr<ActionDataAbstract> terminal_data) |
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: cost_(Scalar(0.)), |
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T_(running_models.size()), |
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x0_(x0), |
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terminal_model_(terminal_model), |
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terminal_data_(terminal_data), |
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running_models_(running_models), |
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running_datas_(running_datas), |
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nx_(running_models[0]->get_state()->get_nx()), |
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ndx_(running_models[0]->get_state()->get_ndx()), |
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nthreads_(1) { |
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if (static_cast<std::size_t>(x0.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x0 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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const std::size_t Td = running_datas.size(); |
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if (Td != T_) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "the number of running models and datas are not the same (" + |
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std::to_string(T_) + " != " + std::to_string(Td) + ")") |
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} |
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for (std::size_t i = 0; i < T_; ++i) { |
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const std::shared_ptr<ActionModelAbstract>& model = running_models_[i]; |
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const std::shared_ptr<ActionDataAbstract>& data = running_datas_[i]; |
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if (model->get_state()->get_nx() != nx_) { |
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throw_pretty("Invalid argument: " |
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<< "nx in " << i |
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<< " node is not consistent with the other nodes") |
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} |
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if (model->get_state()->get_ndx() != ndx_) { |
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throw_pretty("Invalid argument: " |
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<< "ndx in " << i |
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<< " node is not consistent with the other nodes") |
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} |
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if (!model->checkData(data)) { |
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throw_pretty("Invalid argument: " |
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<< "action data in " << i |
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<< " node is not consistent with the action model") |
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} |
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} |
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if (!terminal_model->checkData(terminal_data)) { |
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throw_pretty("Invalid argument: " |
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<< "terminal action data is not consistent with the terminal " |
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"action model") |
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} |
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#ifdef CROCODDYL_WITH_MULTITHREADING |
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if (enableMultithreading()) { |
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nthreads_ = CROCODDYL_WITH_NTHREADS; |
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} |
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#endif |
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} |
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template <typename Scalar> |
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ShootingProblemTpl<Scalar>::ShootingProblemTpl( |
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const ShootingProblemTpl<Scalar>& problem) |
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: cost_(Scalar(0.)), |
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T_(problem.get_T()), |
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x0_(problem.get_x0()), |
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terminal_model_(problem.get_terminalModel()), |
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terminal_data_(problem.get_terminalData()), |
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running_models_(problem.get_runningModels()), |
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running_datas_(problem.get_runningDatas()), |
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nx_(problem.get_nx()), |
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ndx_(problem.get_ndx()) {} |
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template <typename Scalar> |
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ShootingProblemTpl<Scalar>::~ShootingProblemTpl() {} |
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template <typename Scalar> |
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Scalar ShootingProblemTpl<Scalar>::calc(const std::vector<VectorXs>& xs, |
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const std::vector<VectorXs>& us) { |
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if (xs.size() != T_ + 1) { |
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throw_pretty( |
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"Invalid argument: " << "xs has wrong dimension (it should be " + |
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std::to_string(T_ + 1) + ")"); |
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} |
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if (us.size() != T_) { |
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throw_pretty( |
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"Invalid argument: " << "us has wrong dimension (it should be " + |
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std::to_string(T_) + ")"); |
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} |
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START_PROFILER("ShootingProblem::calc"); |
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#ifdef CROCODDYL_WITH_MULTITHREADING |
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#pragma omp parallel for num_threads(nthreads_) |
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#endif |
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for (std::size_t i = 0; i < T_; ++i) { |
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running_models_[i]->calc(running_datas_[i], xs[i], us[i]); |
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} |
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terminal_model_->calc(terminal_data_, xs.back()); |
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cost_ = Scalar(0.); |
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#ifdef CROCODDYL_WITH_MULTITHREADING |
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#pragma omp simd reduction(+ : cost_) |
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#endif |
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for (std::size_t i = 0; i < T_; ++i) { |
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cost_ += running_datas_[i]->cost; |
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} |
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cost_ += terminal_data_->cost; |
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STOP_PROFILER("ShootingProblem::calc"); |
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return cost_; |
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} |
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template <typename Scalar> |
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Scalar ShootingProblemTpl<Scalar>::calcDiff(const std::vector<VectorXs>& xs, |
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const std::vector<VectorXs>& us) { |
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if (xs.size() != T_ + 1) { |
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throw_pretty( |
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"Invalid argument: " << "xs has wrong dimension (it should be " + |
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std::to_string(T_ + 1) + ")"); |
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} |
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if (us.size() != T_) { |
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throw_pretty( |
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"Invalid argument: " << "us has wrong dimension (it should be " + |
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std::to_string(T_) + ")"); |
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} |
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START_PROFILER("ShootingProblem::calcDiff"); |
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#ifdef CROCODDYL_WITH_MULTITHREADING |
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#pragma omp parallel for num_threads(nthreads_) |
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#endif |
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for (std::size_t i = 0; i < T_; ++i) { |
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running_models_[i]->calcDiff(running_datas_[i], xs[i], us[i]); |
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} |
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terminal_model_->calcDiff(terminal_data_, xs.back()); |
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cost_ = Scalar(0.); |
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// Apply SIMD only for floating-point types |
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if (std::is_floating_point<Scalar>::value) { |
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#ifdef CROCODDYL_WITH_MULTITHREADING |
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#pragma omp simd reduction(+ : cost_) |
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#endif |
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for (std::size_t i = 0; i < T_; ++i) { |
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cost_ += running_datas_[i]->cost; |
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} |
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cost_ += terminal_data_->cost; |
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} else { // For non-floating-point types (e.g., CppAD types), use the normal |
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// loop without SIMD |
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for (std::size_t i = 0; i < T_; ++i) { |
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cost_ += running_datas_[i]->cost; |
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} |
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cost_ += terminal_data_->cost; |
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} |
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STOP_PROFILER("ShootingProblem::calcDiff"); |
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return cost_; |
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} |
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template <typename Scalar> |
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void ShootingProblemTpl<Scalar>::rollout(const std::vector<VectorXs>& us, |
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std::vector<VectorXs>& xs) { |
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if (xs.size() != T_ + 1) { |
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throw_pretty( |
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"Invalid argument: " << "xs has wrong dimension (it should be " + |
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std::to_string(T_ + 1) + ")"); |
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} |
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if (us.size() != T_) { |
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throw_pretty( |
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"Invalid argument: " << "us has wrong dimension (it should be " + |
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std::to_string(T_) + ")"); |
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} |
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START_PROFILER("ShootingProblem::rollout"); |
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xs[0] = x0_; |
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for (std::size_t i = 0; i < T_; ++i) { |
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const std::shared_ptr<ActionDataAbstract>& data = running_datas_[i]; |
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running_models_[i]->calc(data, xs[i], us[i]); |
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xs[i + 1] = data->xnext; |
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} |
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terminal_model_->calc(terminal_data_, xs.back()); |
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STOP_PROFILER("ShootingProblem::rollout"); |
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} |
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template <typename Scalar> |
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std::vector<typename MathBaseTpl<Scalar>::VectorXs> |
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ShootingProblemTpl<Scalar>::rollout_us(const std::vector<VectorXs>& us) { |
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std::vector<VectorXs> xs; |
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xs.resize(T_ + 1); |
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rollout(us, xs); |
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return xs; |
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} |
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| 255 |
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template <typename Scalar> |
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void ShootingProblemTpl<Scalar>::quasiStatic(std::vector<VectorXs>& us, |
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const std::vector<VectorXs>& xs) { |
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✗ |
if (xs.size() != T_) { |
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✗ |
throw_pretty( |
| 260 |
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"Invalid argument: " << "xs has wrong dimension (it should be " + |
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std::to_string(T_) + ")"); |
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} |
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✗ |
if (us.size() != T_) { |
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✗ |
throw_pretty( |
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"Invalid argument: " << "us has wrong dimension (it should be " + |
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std::to_string(T_) + ")"); |
| 267 |
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} |
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#ifdef CROCODDYL_WITH_MULTITHREADING |
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#pragma omp parallel for num_threads(nthreads_) |
| 271 |
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#endif |
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for (std::size_t i = 0; i < T_; ++i) { |
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running_models_[i]->quasiStatic(running_datas_[i], us[i], xs[i]); |
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} |
| 275 |
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} |
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template <typename Scalar> |
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std::vector<typename MathBaseTpl<Scalar>::VectorXs> |
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✗ |
ShootingProblemTpl<Scalar>::quasiStatic_xs(const std::vector<VectorXs>& xs) { |
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std::vector<VectorXs> us; |
| 281 |
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us.resize(T_); |
| 282 |
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✗ |
for (std::size_t i = 0; i < T_; ++i) { |
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us[i] = VectorXs::Zero(running_models_[i]->get_nu()); |
| 284 |
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} |
| 285 |
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✗ |
quasiStatic(us, xs); |
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return us; |
| 287 |
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} |
| 288 |
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|
| 289 |
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template <typename Scalar> |
| 290 |
|
✗ |
void ShootingProblemTpl<Scalar>::circularAppend( |
| 291 |
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std::shared_ptr<ActionModelAbstract> model, |
| 292 |
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std::shared_ptr<ActionDataAbstract> data) { |
| 293 |
|
✗ |
if (!model->checkData(data)) { |
| 294 |
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✗ |
throw_pretty("Invalid argument: " |
| 295 |
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<< "action data is not consistent with the action model") |
| 296 |
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} |
| 297 |
|
✗ |
if (model->get_state()->get_nx() != nx_) { |
| 298 |
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✗ |
throw_pretty( |
| 299 |
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"Invalid argument: " << "nx is not consistent with the other nodes") |
| 300 |
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} |
| 301 |
|
✗ |
if (model->get_state()->get_ndx() != ndx_) { |
| 302 |
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✗ |
throw_pretty("Invalid argument: " |
| 303 |
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<< "ndx node is not consistent with the other nodes") |
| 304 |
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} |
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✗ |
is_updated_ = true; |
| 306 |
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✗ |
for (std::size_t i = 0; i < T_ - 1; ++i) { |
| 307 |
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running_models_[i] = running_models_[i + 1]; |
| 308 |
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running_datas_[i] = running_datas_[i + 1]; |
| 309 |
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} |
| 310 |
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running_models_.back() = model; |
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running_datas_.back() = data; |
| 312 |
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} |
| 313 |
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|
| 314 |
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template <typename Scalar> |
| 315 |
|
✗ |
void ShootingProblemTpl<Scalar>::circularAppend( |
| 316 |
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std::shared_ptr<ActionModelAbstract> model) { |
| 317 |
|
✗ |
if (model->get_state()->get_nx() != nx_) { |
| 318 |
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✗ |
throw_pretty( |
| 319 |
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"Invalid argument: " << "nx is not consistent with the other nodes") |
| 320 |
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} |
| 321 |
|
✗ |
if (model->get_state()->get_ndx() != ndx_) { |
| 322 |
|
✗ |
throw_pretty("Invalid argument: " |
| 323 |
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<< "ndx node is not consistent with the other nodes") |
| 324 |
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} |
| 325 |
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✗ |
is_updated_ = true; |
| 326 |
|
✗ |
for (std::size_t i = 0; i < T_ - 1; ++i) { |
| 327 |
|
✗ |
running_models_[i] = running_models_[i + 1]; |
| 328 |
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✗ |
running_datas_[i] = running_datas_[i + 1]; |
| 329 |
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} |
| 330 |
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✗ |
running_models_.back() = model; |
| 331 |
|
✗ |
running_datas_.back() = model->createData(); |
| 332 |
|
|
} |
| 333 |
|
|
|
| 334 |
|
|
template <typename Scalar> |
| 335 |
|
✗ |
void ShootingProblemTpl<Scalar>::updateNode( |
| 336 |
|
|
const std::size_t i, std::shared_ptr<ActionModelAbstract> model, |
| 337 |
|
|
std::shared_ptr<ActionDataAbstract> data) { |
| 338 |
|
✗ |
if (i >= T_ + 1) { |
| 339 |
|
✗ |
throw_pretty("Invalid argument: " |
| 340 |
|
|
<< "i is bigger than the allocated horizon (it should be less " |
| 341 |
|
|
"than or equal to " + |
| 342 |
|
|
std::to_string(T_ + 1) + ")"); |
| 343 |
|
|
} |
| 344 |
|
✗ |
if (!model->checkData(data)) { |
| 345 |
|
✗ |
throw_pretty("Invalid argument: " |
| 346 |
|
|
<< "action data is not consistent with the action model") |
| 347 |
|
|
} |
| 348 |
|
✗ |
if (model->get_state()->get_nx() != nx_) { |
| 349 |
|
✗ |
throw_pretty( |
| 350 |
|
|
"Invalid argument: " << "nx is not consistent with the other nodes") |
| 351 |
|
|
} |
| 352 |
|
✗ |
if (model->get_state()->get_ndx() != ndx_) { |
| 353 |
|
✗ |
throw_pretty("Invalid argument: " |
| 354 |
|
|
<< "ndx node is not consistent with the other nodes") |
| 355 |
|
|
} |
| 356 |
|
✗ |
is_updated_ = true; |
| 357 |
|
✗ |
if (i == T_) { |
| 358 |
|
✗ |
terminal_model_ = model; |
| 359 |
|
✗ |
terminal_data_ = data; |
| 360 |
|
|
} else { |
| 361 |
|
✗ |
running_models_[i] = model; |
| 362 |
|
✗ |
running_datas_[i] = data; |
| 363 |
|
|
} |
| 364 |
|
|
} |
| 365 |
|
|
|
| 366 |
|
|
template <typename Scalar> |
| 367 |
|
✗ |
void ShootingProblemTpl<Scalar>::updateModel( |
| 368 |
|
|
const std::size_t i, std::shared_ptr<ActionModelAbstract> model) { |
| 369 |
|
✗ |
if (i >= T_ + 1) { |
| 370 |
|
✗ |
throw_pretty( |
| 371 |
|
|
"Invalid argument: " |
| 372 |
|
|
<< "i is bigger than the allocated horizon (it should be lower than " + |
| 373 |
|
|
std::to_string(T_ + 1) + ")"); |
| 374 |
|
|
} |
| 375 |
|
✗ |
if (model->get_state()->get_nx() != nx_) { |
| 376 |
|
✗ |
throw_pretty( |
| 377 |
|
|
"Invalid argument: " << "nx is not consistent with the other nodes") |
| 378 |
|
|
} |
| 379 |
|
✗ |
if (model->get_state()->get_ndx() != ndx_) { |
| 380 |
|
✗ |
throw_pretty( |
| 381 |
|
|
"Invalid argument: " << "ndx is not consistent with the other nodes") |
| 382 |
|
|
} |
| 383 |
|
✗ |
is_updated_ = true; |
| 384 |
|
✗ |
if (i == T_) { |
| 385 |
|
✗ |
terminal_model_ = model; |
| 386 |
|
✗ |
terminal_data_ = terminal_model_->createData(); |
| 387 |
|
|
} else { |
| 388 |
|
✗ |
running_models_[i] = model; |
| 389 |
|
✗ |
running_datas_[i] = model->createData(); |
| 390 |
|
|
} |
| 391 |
|
|
} |
| 392 |
|
|
|
| 393 |
|
|
template <typename Scalar> |
| 394 |
|
|
template <typename NewScalar> |
| 395 |
|
✗ |
ShootingProblemTpl<NewScalar> ShootingProblemTpl<Scalar>::cast() const { |
| 396 |
|
|
typedef ShootingProblemTpl<NewScalar> ReturnType; |
| 397 |
|
✗ |
ReturnType ret(x0_.template cast<NewScalar>(), |
| 398 |
|
✗ |
vector_cast<NewScalar>(running_models_), |
| 399 |
|
✗ |
terminal_model_->template cast<NewScalar>()); |
| 400 |
|
✗ |
ret.set_nthreads((int)nthreads_); |
| 401 |
|
✗ |
return ret; |
| 402 |
|
|
} |
| 403 |
|
|
|
| 404 |
|
|
template <typename Scalar> |
| 405 |
|
✗ |
std::size_t ShootingProblemTpl<Scalar>::get_T() const { |
| 406 |
|
✗ |
return T_; |
| 407 |
|
|
} |
| 408 |
|
|
|
| 409 |
|
|
template <typename Scalar> |
| 410 |
|
|
const typename MathBaseTpl<Scalar>::VectorXs& |
| 411 |
|
✗ |
ShootingProblemTpl<Scalar>::get_x0() const { |
| 412 |
|
✗ |
return x0_; |
| 413 |
|
|
} |
| 414 |
|
|
|
| 415 |
|
|
template <typename Scalar> |
| 416 |
|
✗ |
void ShootingProblemTpl<Scalar>::allocateData() { |
| 417 |
|
✗ |
running_datas_.resize(T_); |
| 418 |
|
✗ |
for (std::size_t i = 0; i < T_; ++i) { |
| 419 |
|
✗ |
const std::shared_ptr<ActionModelAbstract>& model = running_models_[i]; |
| 420 |
|
✗ |
running_datas_[i] = model->createData(); |
| 421 |
|
|
} |
| 422 |
|
✗ |
terminal_data_ = terminal_model_->createData(); |
| 423 |
|
|
} |
| 424 |
|
|
|
| 425 |
|
|
template <typename Scalar> |
| 426 |
|
|
const std::vector<std::shared_ptr<crocoddyl::ActionModelAbstractTpl<Scalar> > >& |
| 427 |
|
✗ |
ShootingProblemTpl<Scalar>::get_runningModels() const { |
| 428 |
|
✗ |
return running_models_; |
| 429 |
|
|
} |
| 430 |
|
|
|
| 431 |
|
|
template <typename Scalar> |
| 432 |
|
|
const std::shared_ptr<crocoddyl::ActionModelAbstractTpl<Scalar> >& |
| 433 |
|
✗ |
ShootingProblemTpl<Scalar>::get_terminalModel() const { |
| 434 |
|
✗ |
return terminal_model_; |
| 435 |
|
|
} |
| 436 |
|
|
|
| 437 |
|
|
template <typename Scalar> |
| 438 |
|
|
const std::vector<std::shared_ptr<crocoddyl::ActionDataAbstractTpl<Scalar> > >& |
| 439 |
|
✗ |
ShootingProblemTpl<Scalar>::get_runningDatas() const { |
| 440 |
|
✗ |
return running_datas_; |
| 441 |
|
|
} |
| 442 |
|
|
|
| 443 |
|
|
template <typename Scalar> |
| 444 |
|
|
const std::shared_ptr<crocoddyl::ActionDataAbstractTpl<Scalar> >& |
| 445 |
|
✗ |
ShootingProblemTpl<Scalar>::get_terminalData() const { |
| 446 |
|
✗ |
return terminal_data_; |
| 447 |
|
|
} |
| 448 |
|
|
|
| 449 |
|
|
template <typename Scalar> |
| 450 |
|
✗ |
void ShootingProblemTpl<Scalar>::set_x0(const VectorXs& x0_in) { |
| 451 |
|
✗ |
if (x0_in.size() != x0_.size()) { |
| 452 |
|
✗ |
throw_pretty("Invalid argument: " |
| 453 |
|
|
<< "invalid size of x0 provided: Expected " << x0_.size() |
| 454 |
|
|
<< ", received " << x0_in.size()); |
| 455 |
|
|
} |
| 456 |
|
✗ |
x0_ = x0_in; |
| 457 |
|
|
} |
| 458 |
|
|
|
| 459 |
|
|
template <typename Scalar> |
| 460 |
|
✗ |
void ShootingProblemTpl<Scalar>::set_runningModels( |
| 461 |
|
|
const std::vector<std::shared_ptr<ActionModelAbstract> >& models) { |
| 462 |
|
✗ |
for (std::size_t i = 0; i < T_; ++i) { |
| 463 |
|
✗ |
const std::shared_ptr<ActionModelAbstract>& model = running_models_[i]; |
| 464 |
|
✗ |
if (model->get_state()->get_nx() != nx_) { |
| 465 |
|
✗ |
throw_pretty("Invalid argument: " |
| 466 |
|
|
<< "nx in " << i |
| 467 |
|
|
<< " node is not consistent with the other nodes") |
| 468 |
|
|
} |
| 469 |
|
✗ |
if (model->get_state()->get_ndx() != ndx_) { |
| 470 |
|
✗ |
throw_pretty("Invalid argument: " |
| 471 |
|
|
<< "ndx in " << i |
| 472 |
|
|
<< " node is not consistent with the other nodes") |
| 473 |
|
|
} |
| 474 |
|
|
} |
| 475 |
|
✗ |
is_updated_ = true; |
| 476 |
|
✗ |
T_ = models.size(); |
| 477 |
|
✗ |
running_models_.clear(); |
| 478 |
|
✗ |
running_datas_.clear(); |
| 479 |
|
✗ |
for (std::size_t i = 0; i < T_; ++i) { |
| 480 |
|
✗ |
const std::shared_ptr<ActionModelAbstract>& model = running_models_[i]; |
| 481 |
|
✗ |
running_datas_.push_back(model->createData()); |
| 482 |
|
|
} |
| 483 |
|
|
} |
| 484 |
|
|
|
| 485 |
|
|
template <typename Scalar> |
| 486 |
|
✗ |
void ShootingProblemTpl<Scalar>::set_terminalModel( |
| 487 |
|
|
std::shared_ptr<ActionModelAbstract> model) { |
| 488 |
|
✗ |
if (model->get_state()->get_nx() != nx_) { |
| 489 |
|
✗ |
throw_pretty( |
| 490 |
|
|
"Invalid argument: " << "nx is not consistent with the other nodes") |
| 491 |
|
|
} |
| 492 |
|
✗ |
if (model->get_state()->get_ndx() != ndx_) { |
| 493 |
|
✗ |
throw_pretty( |
| 494 |
|
|
"Invalid argument: " << "ndx is not consistent with the other nodes") |
| 495 |
|
|
} |
| 496 |
|
✗ |
is_updated_ = true; |
| 497 |
|
✗ |
terminal_model_ = model; |
| 498 |
|
✗ |
terminal_data_ = terminal_model_->createData(); |
| 499 |
|
|
} |
| 500 |
|
|
|
| 501 |
|
|
template <typename Scalar> |
| 502 |
|
✗ |
void ShootingProblemTpl<Scalar>::set_nthreads(const int nthreads) { |
| 503 |
|
|
#ifndef CROCODDYL_WITH_MULTITHREADING |
| 504 |
|
|
(void)nthreads; |
| 505 |
|
✗ |
std::cerr << "Warning: the number of threads won't affect the computational " |
| 506 |
|
|
"performance as multithreading " |
| 507 |
|
|
"support is not enabled." |
| 508 |
|
✗ |
<< std::endl; |
| 509 |
|
|
#else |
| 510 |
|
|
if (nthreads < 1) { |
| 511 |
|
|
nthreads_ = CROCODDYL_WITH_NTHREADS; |
| 512 |
|
|
} else { |
| 513 |
|
|
nthreads_ = static_cast<std::size_t>(nthreads); |
| 514 |
|
|
} |
| 515 |
|
|
if (!enableMultithreading()) { |
| 516 |
|
|
std::cerr << "Warning: the number of threads won't affect the " |
| 517 |
|
|
"computational performance as multithreading " |
| 518 |
|
|
"support is not enabled." |
| 519 |
|
|
<< std::endl; |
| 520 |
|
|
nthreads_ = 1; |
| 521 |
|
|
} |
| 522 |
|
|
#endif |
| 523 |
|
|
} |
| 524 |
|
|
|
| 525 |
|
|
template <typename Scalar> |
| 526 |
|
✗ |
std::size_t ShootingProblemTpl<Scalar>::get_nx() const { |
| 527 |
|
✗ |
return nx_; |
| 528 |
|
|
} |
| 529 |
|
|
|
| 530 |
|
|
template <typename Scalar> |
| 531 |
|
✗ |
std::size_t ShootingProblemTpl<Scalar>::get_ndx() const { |
| 532 |
|
✗ |
return ndx_; |
| 533 |
|
|
} |
| 534 |
|
|
|
| 535 |
|
|
template <typename Scalar> |
| 536 |
|
✗ |
std::size_t ShootingProblemTpl<Scalar>::get_nthreads() const { |
| 537 |
|
|
#ifndef CROCODDYL_WITH_MULTITHREADING |
| 538 |
|
✗ |
std::cerr << "Warning: the number of threads won't affect the computational " |
| 539 |
|
|
"performance as multithreading " |
| 540 |
|
|
"support is not enabled." |
| 541 |
|
✗ |
<< std::endl; |
| 542 |
|
|
#endif |
| 543 |
|
✗ |
return nthreads_; |
| 544 |
|
|
} |
| 545 |
|
|
|
| 546 |
|
|
template <typename Scalar> |
| 547 |
|
✗ |
bool ShootingProblemTpl<Scalar>::is_updated() { |
| 548 |
|
✗ |
const bool status = is_updated_; |
| 549 |
|
✗ |
is_updated_ = false; |
| 550 |
|
✗ |
return status; |
| 551 |
|
|
} |
| 552 |
|
|
|
| 553 |
|
|
template <typename Scalar> |
| 554 |
|
✗ |
std::ostream& operator<<(std::ostream& os, |
| 555 |
|
|
const ShootingProblemTpl<Scalar>& problem) { |
| 556 |
|
✗ |
os << "ShootingProblem (T=" << problem.get_T() << ", nx=" << problem.get_nx() |
| 557 |
|
✗ |
<< ", ndx=" << problem.get_ndx() << ") " << std::endl |
| 558 |
|
✗ |
<< " Models:" << std::endl; |
| 559 |
|
|
const std::vector< |
| 560 |
|
|
std::shared_ptr<crocoddyl::ActionModelAbstractTpl<Scalar> > >& |
| 561 |
|
✗ |
runningModels = problem.get_runningModels(); |
| 562 |
|
✗ |
for (std::size_t t = 0; t < problem.get_T(); ++t) { |
| 563 |
|
✗ |
os << " " << t << ": " << *runningModels[t] << std::endl; |
| 564 |
|
|
} |
| 565 |
|
✗ |
os << " " << problem.get_T() << ": " << *problem.get_terminalModel(); |
| 566 |
|
✗ |
return os; |
| 567 |
|
|
} |
| 568 |
|
|
|
| 569 |
|
|
} // namespace crocoddyl |
| 570 |
|
|
|