Inheritance diagram for ControlParametrizationModelNumDiffTpl< _Scalar >:

Public Types
typedef ControlParametrizationModelAbstractTpl< _Scalar >	Base

typedef ControlParametrizationDataAbstractTpl< _Scalar >	ControlParametrizationDataAbstract

typedef ControlParametrizationDataNumDiffTpl< _Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ControlParametrizationModelAbstractTpl< _Scalar >
typedef ControlParametrizationDataAbstractTpl< Scalar >	ControlParametrizationDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ControlParametrizationModelNumDiffTpl (std::shared_ptr< Base > model)
	Construct a new ControlParametrizationModelNumDiff object.

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

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

template<typename NewScalar >
ControlParametrizationModelNumDiffTpl< NewScalar >	cast () const

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 override
	Convert the bounds on the control to bounds on the control parameters.

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CROCODDYL_DERIVED_CAST (ControlParametrizationModelBase, ControlParametrizationModelNumDiffTpl) typedef _Scalar Scalar

const Scalar	get_disturbance () const
	Return the disturbance constant used in the numerical differentiation routine.

const std::shared_ptr< Base > &	get_model () const
	Get the model_ object.

void	multiplyByJacobian (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, Eigen::Ref< MatrixXs > out, const AssignmentOp=setto) const override
	Compute the product between a specified matrix and the Jacobian of the control (with respect to the parameters)

void	multiplyJacobianTransposeBy (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, Eigen::Ref< MatrixXs > out, const AssignmentOp=setto) const override
	Compute the product between the transposed Jacobian of the control (with respect to the parameters) and a specified matrix.

void	params (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &w) const override
	Get a value of the control parameters such that the control at the specified time t is equal to the specified value u.

void	set_disturbance (const Scalar disturbance)
	Modify the disturbance constant used in the numerical differentiation routine.

Public Member Functions inherited from ControlParametrizationModelAbstractTpl< _Scalar >
	ControlParametrizationModelAbstractTpl (const std::size_t nw, const std::size_t nu)
	Initialize the control dimensions.

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.

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.

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

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).

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)

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.

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

Protected Attributes
std::size_t	nu_
	Control parameters dimension.

std::size_t	nw_
	Control dimension.

Protected Attributes inherited from ControlParametrizationModelAbstractTpl< _Scalar >
std::size_t	nu_
	Control parameters dimension.

std::size_t	nw_
	Control dimension.

Additional Inherited Members
Public Attributes inherited from ControlParametrizationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Detailed Description

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

Definition at line 19 of file control.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 27 of file control.hpp.

◆ Base

template<typename _Scalar >

typedef ControlParametrizationModelAbstractTpl<_Scalar> Base

Definition at line 28 of file control.hpp.

◆ Data

template<typename _Scalar >

typedef ControlParametrizationDataNumDiffTpl<_Scalar> Data

Definition at line 29 of file control.hpp.

◆ ControlParametrizationDataAbstract

template<typename _Scalar >

typedef ControlParametrizationDataAbstractTpl<_Scalar> ControlParametrizationDataAbstract

Definition at line 31 of file control.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 32 of file control.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 33 of file control.hpp.

Constructor & Destructor Documentation

◆ ControlParametrizationModelNumDiffTpl()

template<typename _Scalar >

ControlParametrizationModelNumDiffTpl ( std::shared_ptr< Base > model )

explicit

Construct a new ControlParametrizationModelNumDiff object.

Parameters

model

Member Function Documentation

◆ calc()

template<typename _Scalar >

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

override

Get the value of the control at the specified time.

Parameters

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

◆ calcDiff()

template<typename _Scalar >

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

override

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

Parameters

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

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< ControlParametrizationDataAbstract > createData ( )

overridevirtual

Create the control-parametrization data.

Returns: the control-parametrization data

Reimplemented from ControlParametrizationModelAbstractTpl< _Scalar >.

◆ params()

template<typename _Scalar >

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

override

Get a value of the control parameters such that the control at the specified time t is equal to the specified value u.

Parameters

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

◆ convertBounds()

template<typename _Scalar >

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

overridevirtual

Convert the bounds on the control to bounds on the control parameters.

Parameters

[in]	w_lb	Control lower bound
[in]	w_ub	Control upper bound
[in]	u_lb	Control parameter lower bound
[in]	u_ub	Control parameter upper bound

Implements ControlParametrizationModelAbstractTpl< _Scalar >.

◆ multiplyByJacobian()

template<typename _Scalar >

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

override

Compute the product between a specified matrix and the Jacobian of the control (with respect to the parameters)

Parameters

[in]	data	Control-parametrization numdiff 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

◆ multiplyJacobianTransposeBy()

template<typename _Scalar >

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

override

Compute the product between the transposed Jacobian of the control (with respect to the parameters) and a specified matrix.

Parameters

[in]	data	Control-parametrization numdiff 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

◆ get_model()

template<typename _Scalar >

const std::shared_ptr< Base > & get_model ( ) const

Get the model_ object.

Returns: Base&

Member Data Documentation

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Control parameters dimension.

Definition at line 206 of file control-base.hpp.

◆ nw_

template<typename _Scalar >

std::size_t nw_

protected

Control dimension.

Definition at line 205 of file control-base.hpp.

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

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

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ ControlParametrizationDataAbstract

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ControlParametrizationModelNumDiffTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ params()

◆ convertBounds()

◆ multiplyByJacobian()

◆ multiplyJacobianTransposeBy()

◆ get_model()

Member Data Documentation

◆ nu_

◆ nw_