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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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// 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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StateAbstractTpl<Scalar>::StateAbstractTpl(const std::size_t nx, |
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const std::size_t ndx) |
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: nx_(nx), |
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ndx_(ndx), |
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lb_(VectorXs::Constant(nx_, -std::numeric_limits<Scalar>::infinity())), |
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ub_(VectorXs::Constant(nx_, std::numeric_limits<Scalar>::infinity())), |
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has_limits_(false) { |
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nv_ = ndx / 2; |
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nq_ = nx_ - nv_; |
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} |
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template <typename Scalar> |
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StateAbstractTpl<Scalar>::StateAbstractTpl() |
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: nx_(0), |
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ndx_(0), |
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lb_(MathBase::VectorXs::Constant( |
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nx_, -std::numeric_limits<Scalar>::infinity())), |
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ub_(MathBase::VectorXs::Constant( |
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nx_, std::numeric_limits<Scalar>::infinity())), |
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has_limits_(false) {} |
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template <typename Scalar> |
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StateAbstractTpl<Scalar>::~StateAbstractTpl() {} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::VectorXs StateAbstractTpl<Scalar>::diff_dx( |
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const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1) { |
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VectorXs dxout = VectorXs::Zero(ndx_); |
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diff(x0, x1, dxout); |
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return dxout; |
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} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::VectorXs StateAbstractTpl<Scalar>::integrate_x( |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& dx) { |
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VectorXs xout = VectorXs::Zero(nx_); |
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integrate(x, dx, xout); |
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return xout; |
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} |
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template <typename Scalar> |
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std::vector<typename MathBaseTpl<Scalar>::MatrixXs> |
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StateAbstractTpl<Scalar>::Jdiff_Js(const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1, |
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Jcomponent firstsecond) { |
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MatrixXs Jfirst(ndx_, ndx_), Jsecond(ndx_, ndx_); |
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Jfirst.setZero(); |
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Jsecond.setZero(); |
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std::vector<MatrixXs> Jacs; |
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Jdiff(x0, x1, Jfirst, Jsecond, firstsecond); |
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switch (firstsecond) { |
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case both: |
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Jacs.push_back(Jfirst); |
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Jacs.push_back(Jsecond); |
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break; |
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case first: |
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Jacs.push_back(Jfirst); |
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break; |
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case second: |
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Jacs.push_back(Jsecond); |
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break; |
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default: |
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Jacs.push_back(Jfirst); |
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Jacs.push_back(Jsecond); |
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break; |
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} |
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return Jacs; |
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} |
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template <typename Scalar> |
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std::vector<typename MathBaseTpl<Scalar>::MatrixXs> |
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StateAbstractTpl<Scalar>::Jintegrate_Js(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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const Jcomponent firstsecond) { |
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MatrixXs Jfirst(ndx_, ndx_), Jsecond(ndx_, ndx_); |
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Jfirst.setZero(); |
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Jsecond.setZero(); |
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std::vector<MatrixXs> Jacs; |
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Jintegrate(x, dx, Jfirst, Jsecond, firstsecond, setto); |
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switch (firstsecond) { |
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case both: |
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Jacs.push_back(Jfirst); |
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Jacs.push_back(Jsecond); |
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break; |
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case first: |
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Jacs.push_back(Jfirst); |
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break; |
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case second: |
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Jacs.push_back(Jsecond); |
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break; |
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default: |
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Jacs.push_back(Jfirst); |
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Jacs.push_back(Jsecond); |
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break; |
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} |
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return Jacs; |
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} |
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template <typename Scalar> |
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void StateAbstractTpl<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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std::size_t StateAbstractTpl<Scalar>::get_nx() const { |
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return nx_; |
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} |
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template <typename Scalar> |
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std::size_t StateAbstractTpl<Scalar>::get_ndx() const { |
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return ndx_; |
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} |
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template <typename Scalar> |
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std::size_t StateAbstractTpl<Scalar>::get_nq() const { |
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return nq_; |
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} |
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template <typename Scalar> |
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std::size_t StateAbstractTpl<Scalar>::get_nv() const { |
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return nv_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& StateAbstractTpl<Scalar>::get_lb() |
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const { |
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return lb_; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& StateAbstractTpl<Scalar>::get_ub() |
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const { |
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return ub_; |
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} |
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template <typename Scalar> |
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bool StateAbstractTpl<Scalar>::get_has_limits() const { |
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return has_limits_; |
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} |
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template <typename Scalar> |
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void StateAbstractTpl<Scalar>::set_lb(const VectorXs& lb) { |
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if (static_cast<std::size_t>(lb.size()) != nx_) { |
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throw_pretty("Invalid argument: " |
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<< "lower bound has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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lb_ = lb; |
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update_has_limits(); |
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} |
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template <typename Scalar> |
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void StateAbstractTpl<Scalar>::set_ub(const VectorXs& ub) { |
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if (static_cast<std::size_t>(ub.size()) != nx_) { |
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throw_pretty("Invalid argument: " |
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<< "upper bound has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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ub_ = ub; |
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update_has_limits(); |
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} |
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template <typename Scalar> |
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void StateAbstractTpl<Scalar>::update_has_limits() { |
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has_limits_ = isfinite(lb_.array()).any() || isfinite(ub_.array()).any(); |
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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 StateAbstractTpl<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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