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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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// New York University, Max Planck Gesellschaft, |
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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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StateNumDiffTpl<Scalar>::StateNumDiffTpl(std::shared_ptr<Base> state) |
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: Base(state->get_nx(), state->get_ndx()), |
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state_(state), |
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e_jac_(sqrt(Scalar(2.0) * std::numeric_limits<Scalar>::epsilon())) {} |
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template <typename Scalar> |
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StateNumDiffTpl<Scalar>::~StateNumDiffTpl() {} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::VectorXs StateNumDiffTpl<Scalar>::zero() const { |
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return state_->zero(); |
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} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::VectorXs StateNumDiffTpl<Scalar>::rand() const { |
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return state_->rand(); |
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} |
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template <typename Scalar> |
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void StateNumDiffTpl<Scalar>::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 { |
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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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if (static_cast<std::size_t>(x1.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x1 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(dxout.size()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "dxout has wrong dimension (it should be " + |
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std::to_string(ndx_) + ")"); |
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} |
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state_->diff(x0, x1, dxout); |
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} |
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template <typename Scalar> |
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void StateNumDiffTpl<Scalar>::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 { |
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if (static_cast<std::size_t>(x.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(dx.size()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "dx has wrong dimension (it should be " + |
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std::to_string(ndx_) + ")"); |
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} |
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if (static_cast<std::size_t>(xout.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "xout has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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state_->integrate(x, dx, xout); |
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} |
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template <typename Scalar> |
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void StateNumDiffTpl<Scalar>::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, |
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Eigen::Ref<MatrixXs> Jsecond, |
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Jcomponent firstsecond) const { |
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assert_pretty( |
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is_a_Jcomponent(firstsecond), |
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("firstsecond must be one of the Jcomponent {both, first, second}")); |
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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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if (static_cast<std::size_t>(x1.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x1 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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VectorXs tmp_x_ = VectorXs::Zero(nx_); |
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VectorXs dx_ = VectorXs::Zero(ndx_); |
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VectorXs dx0_ = VectorXs::Zero(ndx_); |
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dx_.setZero(); |
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diff(x0, x1, dx0_); |
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if (firstsecond == first || firstsecond == both) { |
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const Scalar x0h_jac = e_jac_ * std::max(Scalar(1.), x0.norm()); |
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if (static_cast<std::size_t>(Jfirst.rows()) != ndx_ || |
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static_cast<std::size_t>(Jfirst.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jfirst has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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Jfirst.setZero(); |
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for (std::size_t i = 0; i < ndx_; ++i) { |
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dx_(i) = x0h_jac; |
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integrate(x0, dx_, tmp_x_); |
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diff(tmp_x_, x1, Jfirst.col(i)); |
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Jfirst.col(i) -= dx0_; |
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dx_(i) = Scalar(0.); |
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} |
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Jfirst /= x0h_jac; |
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} |
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if (firstsecond == second || firstsecond == both) { |
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const Scalar x1h_jac = e_jac_ * std::max(Scalar(1.), x1.norm()); |
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if (static_cast<std::size_t>(Jsecond.rows()) != ndx_ || |
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static_cast<std::size_t>(Jsecond.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jsecond has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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Jsecond.setZero(); |
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for (std::size_t i = 0; i < ndx_; ++i) { |
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dx_(i) = x1h_jac; |
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integrate(x1, dx_, tmp_x_); |
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diff(x0, tmp_x_, Jsecond.col(i)); |
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Jsecond.col(i) -= dx0_; |
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dx_(i) = Scalar(0.); |
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} |
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Jsecond /= x1h_jac; |
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} |
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} |
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template <typename Scalar> |
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void StateNumDiffTpl<Scalar>::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, |
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const AssignmentOp) const { |
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assert_pretty( |
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is_a_Jcomponent(firstsecond), |
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("firstsecond must be one of the Jcomponent {both, first, second}")); |
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if (static_cast<std::size_t>(x.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(dx.size()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "dx has wrong dimension (it should be " + |
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std::to_string(ndx_) + ")"); |
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} |
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VectorXs tmp_x_ = VectorXs::Zero(nx_); |
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VectorXs dx_ = VectorXs::Zero(ndx_); |
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VectorXs x0_ = VectorXs::Zero(nx_); |
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// x0_ = integrate(x, dx) |
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integrate(x, dx, x0_); |
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if (firstsecond == first || firstsecond == both) { |
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const Scalar xh_jac = e_jac_ * std::max(Scalar(1.), x.norm()); |
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if (static_cast<std::size_t>(Jfirst.rows()) != ndx_ || |
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static_cast<std::size_t>(Jfirst.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jfirst has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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Jfirst.setZero(); |
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for (std::size_t i = 0; i < ndx_; ++i) { |
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dx_(i) = xh_jac; |
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integrate(x, dx_, tmp_x_); |
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integrate(tmp_x_, dx, tmp_x_); |
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diff(x0_, tmp_x_, Jfirst.col(i)); |
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dx_(i) = Scalar(0.); |
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} |
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Jfirst /= xh_jac; |
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} |
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if (firstsecond == second || firstsecond == both) { |
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const Scalar dxh_jac = e_jac_ * std::max(Scalar(1.), dx.norm()); |
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if (static_cast<std::size_t>(Jsecond.rows()) != ndx_ || |
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static_cast<std::size_t>(Jsecond.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jsecond has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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Jsecond.setZero(); |
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for (std::size_t i = 0; i < ndx_; ++i) { |
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dx_(i) = dxh_jac; |
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integrate(x, dx + dx_, tmp_x_); |
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diff(x0_, tmp_x_, Jsecond.col(i)); |
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dx_(i) = Scalar(0.); |
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} |
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Jsecond /= dxh_jac; |
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} |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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StateNumDiffTpl<NewScalar> StateNumDiffTpl<Scalar>::cast() const { |
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typedef StateNumDiffTpl<NewScalar> ReturnType; |
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ReturnType res(state_->template cast<NewScalar>()); |
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return res; |
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} |
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template <typename Scalar> |
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void StateNumDiffTpl<Scalar>::JintegrateTransport( |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&, |
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Eigen::Ref<MatrixXs>, const Jcomponent) const {} |
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template <typename Scalar> |
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const Scalar StateNumDiffTpl<Scalar>::get_disturbance() const { |
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return e_jac_; |
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} |
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template <typename Scalar> |
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void StateNumDiffTpl<Scalar>::set_disturbance(Scalar disturbance) { |
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if (disturbance < Scalar(0.)) { |
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throw_pretty("Invalid argument: " << "Disturbance constant is positive"); |
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} |
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e_jac_ = disturbance; |
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} |
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template <typename Scalar> |
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void StateNumDiffTpl<Scalar>::print(std::ostream& os) const { |
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os << "StateNumDiff {state=" << *state_ << "}"; |
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} |
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} // namespace crocoddyl |
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