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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, New York University, |
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// Max Planck Gesellschaft, |
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// 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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#ifndef CROCODDYL_CORE_NUMDIFF_STATE_HPP_ |
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#define CROCODDYL_CORE_NUMDIFF_STATE_HPP_ |
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#include <memory> |
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#include "crocoddyl/core/fwd.hpp" |
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#include "crocoddyl/core/state-base.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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class StateNumDiffTpl : public StateAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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✗ |
CROCODDYL_DERIVED_CAST(StateBase, StateNumDiffTpl) |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef StateAbstractTpl<_Scalar> Base; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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explicit StateNumDiffTpl(std::shared_ptr<Base> state); |
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virtual ~StateNumDiffTpl(); |
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virtual VectorXs zero() const override; |
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virtual VectorXs rand() const override; |
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virtual void diff(const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1, |
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Eigen::Ref<VectorXs> dxout) const override; |
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virtual void integrate(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<VectorXs> xout) const override; |
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/** |
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* @brief This computes the Jacobian of the diff method by finite |
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* differentiation: |
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* \f{equation}{ |
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* Jfirst[:,k] = diff(int(x_1, dx_dist), x_2) - diff(x_1, x_2)/disturbance |
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* \f} |
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* and |
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* \f{equation}{ |
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* Jsecond[:,k] = diff(x_1, int(x_2, dx_dist)) - diff(x_1, x_2)/disturbance |
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* \f} |
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* |
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* @param Jfirst |
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* @param Jsecond |
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* @param firstsecond |
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*/ |
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virtual void Jdiff(const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1, |
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Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond, |
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Jcomponent firstsecond = both) const override; |
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/** |
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* @brief This computes the Jacobian of the integrate method by finite |
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* differentiation: |
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* \f{equation}{ |
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* Jfirst[:,k] = diff( int(x, d_x), int( int(x, dx_dist), dx) )/disturbance |
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* \f} |
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* and |
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* \f{equation}{ |
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* Jsecond[:,k] = diff( int(x, d_x), int( x, dx + dx_dist) )/disturbance |
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* \f} |
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* |
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* @param Jfirst |
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* @param Jsecond |
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* @param firstsecond |
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*/ |
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virtual void Jintegrate(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<MatrixXs> Jfirst, |
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Eigen::Ref<MatrixXs> Jsecond, |
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const Jcomponent firstsecond = both, |
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const AssignmentOp op = setto) const override; |
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virtual void JintegrateTransport( |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<MatrixXs> Jin, |
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const Jcomponent firstsecond = both) const override; |
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template <typename NewScalar> |
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StateNumDiffTpl<NewScalar> cast() const; |
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/** |
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* @brief Return the disturbance constant used in the numerical |
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* differentiation routine |
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*/ |
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const Scalar get_disturbance() const; |
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/** |
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* @brief Modify the disturbance constant used by the numerical |
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* differentiation routine |
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*/ |
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void set_disturbance(const Scalar disturbance); |
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private: |
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std::shared_ptr<Base> |
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state_; //!< state we need to compute the numerical differentiation |
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Scalar e_jac_; //!< Constant used for computing disturbances in Jacobian |
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//!< calculation |
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protected: |
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using Base::has_limits_; |
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using Base::lb_; |
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using Base::ndx_; |
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using Base::nq_; |
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using Base::nv_; |
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using Base::nx_; |
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using Base::ub_; |
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}; |
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} // namespace crocoddyl |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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#include "crocoddyl/core/numdiff/state.hxx" |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::StateNumDiffTpl) |
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#endif // CROCODDYL_CORE_NUMDIFF_STATE_HPP_ |
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