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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, University of Edinburgh, IRI: CSIC-UPC, |
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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_SQUASHING_SMOOTH_SAT_HPP_ |
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#define CROCODDYL_CORE_SQUASHING_SMOOTH_SAT_HPP_ |
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#include "crocoddyl/core/actuation/squashing-base.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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class SquashingModelSmoothSatTpl : public SquashingModelAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(SquashingModelBase, SquashingModelSmoothSatTpl) |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef SquashingModelAbstractTpl<Scalar> Base; |
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typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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SquashingModelSmoothSatTpl(const Eigen::Ref<const VectorXs>& u_lb, |
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const Eigen::Ref<const VectorXs>& u_ub, |
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const std::size_t ns) |
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: Base(ns) { |
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u_lb_ = u_lb; |
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u_ub_ = u_ub; |
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s_lb_ = u_lb_; |
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s_ub_ = u_ub_; |
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smooth_ = Scalar(0.1); |
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d_ = (u_ub_ - u_lb_) * smooth_; |
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a_ = d_.array() * d_.array(); |
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} |
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virtual ~SquashingModelSmoothSatTpl() = default; |
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virtual void calc(const std::shared_ptr<SquashingDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& s) override { |
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// Squashing function used: "Smooth abs": |
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// s(u) = 0.5*(lb + ub + sqrt(smooth + (u - lb)^2) - sqrt(smooth + (u - |
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// ub)^2)) |
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data->u = Scalar(0.5) * |
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(Eigen::sqrt(Eigen::pow((s - u_lb_).array(), 2) + a_.array()) - |
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Eigen::sqrt(Eigen::pow((s - u_ub_).array(), 2) + a_.array()) + |
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u_lb_.array() + u_ub_.array()); |
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} |
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virtual void calcDiff(const std::shared_ptr<SquashingDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& s) override { |
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data->du_ds.diagonal() = |
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Scalar(0.5) * |
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(Eigen::pow(a_.array() + Eigen::pow((s - u_lb_).array(), 2), |
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Scalar(-0.5)) |
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.array() * |
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(s - u_lb_).array() - |
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Eigen::pow(a_.array() + Eigen::pow((s - u_ub_).array(), 2), |
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Scalar(-0.5)) |
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.array() * |
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(s - u_ub_).array()); |
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} |
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template <typename NewScalar> |
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SquashingModelSmoothSatTpl<NewScalar> cast() const { |
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typedef SquashingModelSmoothSatTpl<NewScalar> ReturnType; |
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ReturnType ret(u_lb_.template cast<NewScalar>(), |
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u_ub_.template cast<NewScalar>(), ns_); |
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return ret; |
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} |
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const Scalar get_smooth() const { return smooth_; }; |
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void set_smooth(const Scalar smooth) { |
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if (smooth < 0.) { |
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throw_pretty("Invalid argument: " << "Smooth value has to be positive"); |
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} |
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smooth_ = smooth; |
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d_ = (u_ub_ - u_lb_) * smooth_; |
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a_ = d_.array() * d_.array(); |
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s_lb_ = u_lb_; |
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s_ub_ = u_ub_; |
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} |
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const VectorXs& get_d() const { return d_; }; |
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private: |
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VectorXs a_; |
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VectorXs d_; |
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Scalar smooth_; |
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using Base::ns_; |
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using Base::s_lb_; |
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using Base::s_ub_; |
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using Base::u_lb_; |
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using Base::u_ub_; |
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}; |
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} // namespace crocoddyl |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::SquashingModelSmoothSatTpl) |
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#endif // CROCODDYL_CORE_SQUASHING_SMOOTH_SAT_HPP_ |
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