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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_BASE_HPP_ |
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#define CROCODDYL_CORE_SQUASHING_BASE_HPP_ |
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#include "crocoddyl/core/fwd.hpp" |
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namespace crocoddyl { |
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class SquashingModelBase { |
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public: |
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virtual ~SquashingModelBase() = default; |
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CROCODDYL_BASE_CAST(SquashingModelBase, SquashingModelAbstractTpl) |
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}; |
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template <typename _Scalar> |
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class SquashingModelAbstractTpl : public SquashingModelBase { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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SquashingModelAbstractTpl(const std::size_t ns) : ns_(ns) { |
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if (ns_ == 0) { |
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throw_pretty("Invalid argument: " << "ns cannot be zero"); |
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} |
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}; |
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virtual ~SquashingModelAbstractTpl() = default; |
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virtual void calc(const std::shared_ptr<SquashingDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& s) = 0; |
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virtual void calcDiff(const std::shared_ptr<SquashingDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& s) = 0; |
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virtual std::shared_ptr<SquashingDataAbstract> createData() { |
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return std::allocate_shared<SquashingDataAbstract>( |
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Eigen::aligned_allocator<SquashingDataAbstract>(), this); |
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} |
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/** |
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* @brief Print information on the actuation model |
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*/ |
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template <class Scalar> |
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friend std::ostream& operator<<( |
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std::ostream& os, const SquashingModelAbstractTpl<Scalar>& model); |
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/** |
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* @brief Print relevant information of the squashing model |
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* |
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* @param[out] os Output stream object |
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*/ |
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virtual void print(std::ostream& os) const { |
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os << boost::core::demangle(typeid(*this).name()); |
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} |
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std::size_t get_ns() const { return ns_; }; |
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const VectorXs& get_s_lb() const { return s_lb_; }; |
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const VectorXs& get_s_ub() const { return s_ub_; }; |
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void set_s_lb(const VectorXs& s_lb) { s_lb_ = s_lb; }; |
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void set_s_ub(const VectorXs& s_ub) { s_ub_ = s_ub; }; |
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protected: |
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std::size_t ns_; |
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VectorXs u_ub_; // Squashing function upper bound |
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VectorXs u_lb_; // Squashing function lower bound |
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VectorXs |
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s_ub_; // Bound for the s variable (to apply using the Quadratic barrier) |
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VectorXs |
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s_lb_; // Bound for the s variable (to apply using the Quadratic barrier) |
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SquashingModelAbstractTpl() : ns_(0) {}; |
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}; |
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template <typename _Scalar> |
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struct SquashingDataAbstractTpl { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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template <template <typename Scalar> class Model> |
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explicit SquashingDataAbstractTpl(Model<Scalar>* const model) |
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: u(model->get_ns()), du_ds(model->get_ns(), model->get_ns()) { |
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u.setZero(); |
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du_ds.setZero(); |
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} |
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SquashingDataAbstractTpl() {} |
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virtual ~SquashingDataAbstractTpl() = default; |
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VectorXs u; |
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MatrixXs du_ds; |
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}; |
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template <class Scalar> |
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std::ostream& operator<<(std::ostream& os, |
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const SquashingModelAbstractTpl<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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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::SquashingModelAbstractTpl) |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::SquashingDataAbstractTpl) |
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#endif // CROCODDYL_CORE_SQUASHING_BASE_HPP_ |
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