Abstract class for the control trajectory parametrization. More...

#include <control-base.hpp>

Inheritance diagram for ControlParametrizationModelAbstractTpl< _Scalar >:

Public Types
typedef ControlParametrizationDataAbstractTpl< Scalar >	ControlParametrizationDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ControlParametrizationModelAbstractTpl (const std::size_t nw, const std::size_t nu)
	Initialize the control dimensions. More...

virtual void	calc (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &u) const =0
	Get the value of the control at the specified time. More...

virtual void	calcDiff (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &u) const =0
	Get the value of the Jacobian of the control with respect to the parameters. More...

virtual bool	checkData (const std::shared_ptr< ControlParametrizationDataAbstract > &data)
	Checks that a specific data belongs to this model.

virtual void	convertBounds (const Eigen::Ref< const VectorXs > &w_lb, const Eigen::Ref< const VectorXs > &w_ub, Eigen::Ref< VectorXs > u_lb, Eigen::Ref< VectorXs > u_ub) const =0
	Convert the bounds on the control inputs w to bounds on the control parameters u. More...

virtual std::shared_ptr< ControlParametrizationDataAbstract >	createData ()
	Create the control-parametrization data. More...

std::size_t	get_nu () const
	Return the dimension of control parameters.

std::size_t	get_nw () const
	Return the dimension of the control inputs.

virtual void	multiplyByJacobian (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, Eigen::Ref< MatrixXs > out, const AssignmentOp op=setto) const =0
	Compute the product between the given matrix A and the derivative of the control input with respect to the control parameters (i.e., A*dw_du). More...

virtual MatrixXs	multiplyByJacobian_J (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, const AssignmentOp op=setto) const

virtual void	multiplyJacobianTransposeBy (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, Eigen::Ref< MatrixXs > out, const AssignmentOp op=setto) const =0
	Compute the product between the transpose of the derivative of the control input with respect to the control parameters and a given matrix A (i.e., dw_du^T*A) More...

virtual MatrixXs	multiplyJacobianTransposeBy_J (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, const AssignmentOp op=setto) const

virtual void	params (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &w) const =0
	Update the control parameters u for a specified time t given the control input w. More...

virtual void	print (std::ostream &os) const
	Print relevant information of the control model. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::size_t	nu_
	Control parameters dimension.

std::size_t	nw_
	Control dimension.

Friends
template<class Scalar >
std::ostream &	operator<< (std::ostream &os, const ControlParametrizationModelAbstractTpl< Scalar > &model)
	Print information on the control model.

Detailed Description

template<typename _Scalar>
class crocoddyl::ControlParametrizationModelAbstractTpl< _Scalar >

Abstract class for the control trajectory parametrization.

The control trajectory is a function of the (normalized) time. Normalized time is between 0 and 1, where 0 represents the beginning of the time step, and 1 represents its end. The trajectory depends on the control parameters u, whose size may be larger than the size of the control inputs w.

The main computations are carried out in calc, multiplyByJacobian and multiplyJacobianTransposeBy, where the former computes control input \(\mathbf{w}\in\mathbb{R}^{nw}\) from a set of control parameters \(\mathbf{u}\in\mathbb{R}^{nu}\) where nw and nu represent the dimension of the control inputs and parameters, respectively, and the latter defines useful operations across the Jacobian of the control-parametrization model. Finally, params allows us to obtain the control parameters from a the control input, i.e., it is the dual of calc. Note that multiplyByJacobian and multiplyJacobianTransposeBy requires to run calc first.

See also: calc(), calcDiff(), createData(), params, multiplyByJacobian, multiplyJacobianTransposeBy

Definition at line 48 of file control-base.hpp.

Constructor & Destructor Documentation

◆ ControlParametrizationModelAbstractTpl()

ControlParametrizationModelAbstractTpl	(	const std::size_t	nw,
		const std::size_t	nu
	)

Initialize the control dimensions.

Parameters

[in]	nw	Dimension of control inputs
[in]	nu	Dimension of control parameters

Member Function Documentation

◆ calc()

virtual void calc	(	const std::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Scalar	t,
		const Eigen::Ref< const VectorXs > &	u
	)		const

pure virtual

Get the value of the control at the specified time.

Parameters

[in]	data	Data structure containing the control vector to write
[in]	t	Time in [0,1]
[in]	u	Control parameters

Implemented in ControlParametrizationModelNumDiffTpl< _Scalar >, ControlParametrizationModelPolyZeroTpl< _Scalar >, ControlParametrizationModelPolyTwoRKTpl< _Scalar >, and ControlParametrizationModelPolyOneTpl< _Scalar >.

◆ calcDiff()

virtual void calcDiff	(	const std::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Scalar	t,
		const Eigen::Ref< const VectorXs > &	u
	)		const

pure virtual

Get the value of the Jacobian of the control with respect to the parameters.

It assumes that calc() has been run first

Parameters

[in]	data	Control-parametrization data
[in]	t	Time in [0,1]
[in]	u	Control parameters

Implemented in ControlParametrizationModelNumDiffTpl< _Scalar >, ControlParametrizationModelPolyZeroTpl< _Scalar >, ControlParametrizationModelPolyTwoRKTpl< _Scalar >, and ControlParametrizationModelPolyOneTpl< _Scalar >.

◆ createData()

virtual std::shared_ptr<ControlParametrizationDataAbstract> createData ( )

virtual

Create the control-parametrization data.

Returns: the control-parametrization data

Reimplemented in ControlParametrizationModelNumDiffTpl< _Scalar >, ControlParametrizationModelPolyZeroTpl< _Scalar >, ControlParametrizationModelPolyTwoRKTpl< _Scalar >, and ControlParametrizationModelPolyOneTpl< _Scalar >.

◆ params()

virtual void params	(	const std::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Scalar	t,
		const Eigen::Ref< const VectorXs > &	w
	)		const

pure virtual

Update the control parameters u for a specified time t given the control input w.

Parameters

[in]	data	Control-parametrization data
[in]	t	Time in [0,1]
[in]	w	Control inputs

Implemented in ControlParametrizationModelNumDiffTpl< _Scalar >, ControlParametrizationModelPolyZeroTpl< _Scalar >, ControlParametrizationModelPolyTwoRKTpl< _Scalar >, and ControlParametrizationModelPolyOneTpl< _Scalar >.

◆ convertBounds()

virtual void convertBounds	(	const Eigen::Ref< const VectorXs > &	w_lb,
		const Eigen::Ref< const VectorXs > &	w_ub,
		Eigen::Ref< VectorXs >	u_lb,
		Eigen::Ref< VectorXs >	u_ub
	)		const

pure virtual

Convert the bounds on the control inputs w to bounds on the control parameters u.

Parameters

[in]	w_lb	Control lower bound
[in]	w_ub	Control lower bound
[out]	u_lb	Control parameters lower bound
[out]	u_ub	Control parameters upper bound

Implemented in ControlParametrizationModelNumDiffTpl< _Scalar >, ControlParametrizationModelPolyZeroTpl< _Scalar >, ControlParametrizationModelPolyTwoRKTpl< _Scalar >, and ControlParametrizationModelPolyOneTpl< _Scalar >.

◆ multiplyByJacobian()

virtual void multiplyByJacobian	(	const std::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Eigen::Ref< const MatrixXs > &	A,
		Eigen::Ref< MatrixXs >	out,
		const AssignmentOp	op = `setto`
	)		const

pure virtual

Compute the product between the given matrix A and the derivative of the control input with respect to the control parameters (i.e., A*dw_du).

It assumes that calc() has been run first

Parameters

[in]	data	Control-parametrization data
[in]	A	A matrix to multiply times the Jacobian
[out]	out	Product between the matrix A and the Jacobian of the control with respect to the parameters
[in]	op	Assignment operator which sets, adds, or removes the given results

Implemented in ControlParametrizationModelNumDiffTpl< _Scalar >, ControlParametrizationModelPolyZeroTpl< _Scalar >, ControlParametrizationModelPolyTwoRKTpl< _Scalar >, and ControlParametrizationModelPolyOneTpl< _Scalar >.

◆ multiplyJacobianTransposeBy()

virtual void multiplyJacobianTransposeBy	(	const std::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Eigen::Ref< const MatrixXs > &	A,
		Eigen::Ref< MatrixXs >	out,
		const AssignmentOp	op = `setto`
	)		const

pure virtual

Compute the product between the transpose of the derivative of the control input with respect to the control parameters and a given matrix A (i.e., dw_du^T*A)

It assumes that calc() has been run first

Parameters

[in]	data	Control-parametrization data
[in]	A	A matrix to multiply times the Jacobian
[out]	out	Product between the transposed Jacobian of the control with respect to the parameters and the matrix A
[in]	op	Assignment operator which sets, adds, or removes the given results

Implemented in ControlParametrizationModelNumDiffTpl< _Scalar >, ControlParametrizationModelPolyZeroTpl< _Scalar >, ControlParametrizationModelPolyTwoRKTpl< _Scalar >, and ControlParametrizationModelPolyOneTpl< _Scalar >.

◆ print()

virtual void print ( std::ostream & os ) const

virtual

Print relevant information of the control model.

Parameters

[out] os Output stream object

Reimplemented in ControlParametrizationModelPolyZeroTpl< _Scalar >, ControlParametrizationModelPolyTwoRKTpl< _Scalar >, and ControlParametrizationModelPolyOneTpl< _Scalar >.

The documentation for this class was generated from the following file:

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/control-base.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Friends

Detailed Description

template<typename _Scalar> class crocoddyl::ControlParametrizationModelAbstractTpl< _Scalar >

Constructor & Destructor Documentation

◆ ControlParametrizationModelAbstractTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ params()

◆ convertBounds()

◆ multiplyByJacobian()

◆ multiplyJacobianTransposeBy()

◆ print()

template<typename _Scalar>
class crocoddyl::ControlParametrizationModelAbstractTpl< _Scalar >