diff-action.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
//                          New York University, Max Planck Gesellschaft
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_NUMDIFF_DIFF_ACTION_HPP_
#define CROCODDYL_CORE_NUMDIFF_DIFF_ACTION_HPP_
 
#include "crocoddyl/core/diff-action-base.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class DifferentialActionModelNumDiffTpl
    : public DifferentialActionModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(DifferentialActionModelBase,
                         DifferentialActionModelNumDiffTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef DifferentialActionModelAbstractTpl<Scalar> Base;
  typedef DifferentialActionDataNumDiffTpl<Scalar> Data;
  typedef DifferentialActionDataAbstractTpl<Scalar>
      DifferentialActionDataAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  explicit DifferentialActionModelNumDiffTpl(
      std::shared_ptr<Base> model, const bool with_gauss_approx = false);
  virtual ~DifferentialActionModelNumDiffTpl() = default;
 
  virtual void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) override;
 
  virtual void calcDiff(
      const std::shared_ptr<DifferentialActionDataAbstract>& data,
      const Eigen::Ref<const VectorXs>& x,
      const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calcDiff(
      const std::shared_ptr<DifferentialActionDataAbstract>& data,
      const Eigen::Ref<const VectorXs>& x) override;
 
  virtual std::shared_ptr<DifferentialActionDataAbstract> createData() override;
 
  template <typename NewScalar>
  DifferentialActionModelNumDiffTpl<NewScalar> cast() const;
 
  virtual void quasiStatic(
      const std::shared_ptr<DifferentialActionDataAbstract>& data,
      Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x,
      const std::size_t maxiter = 100,
      const Scalar tol = Scalar(1e-9)) override;
 
  const std::shared_ptr<Base>& get_model() const;
 
  const Scalar get_disturbance() const;
 
  void set_disturbance(const Scalar disturbance);
 
  bool get_with_gauss_approx();
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::has_control_limits_;  
  using Base::nr_;                  
  using Base::nu_;                  
  using Base::state_;               
  using Base::u_lb_;                
  using Base::u_ub_;                
 
 private:
  void assertStableStateFD(const Eigen::Ref<const VectorXs>& x);
  std::shared_ptr<Base> model_;
  bool with_gauss_approx_;
  Scalar e_jac_;   
  Scalar e_hess_;  
};
 
template <typename _Scalar>
struct DifferentialActionDataNumDiffTpl
    : public DifferentialActionDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef DifferentialActionDataAbstractTpl<Scalar> Base;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  explicit DifferentialActionDataNumDiffTpl(Model<Scalar>* const model)
      : Base(model),
        Rx(model->get_model()->get_nr(),
           model->get_model()->get_state()->get_ndx()),
        Ru(model->get_model()->get_nr(), model->get_model()->get_nu()),
        dx(model->get_model()->get_state()->get_ndx()),
        du(model->get_model()->get_nu()),
        xp(model->get_model()->get_state()->get_nx()) {
    Rx.setZero();
    Ru.setZero();
    dx.setZero();
    du.setZero();
    xp.setZero();
 
    const std::size_t ndx = model->get_model()->get_state()->get_ndx();
    const std::size_t nu = model->get_model()->get_nu();
    data_0 = model->get_model()->createData();
    for (std::size_t i = 0; i < ndx; ++i) {
      data_x.push_back(model->get_model()->createData());
    }
    for (std::size_t i = 0; i < nu; ++i) {
      data_u.push_back(model->get_model()->createData());
    }
  }
 
  Scalar x_norm;  
  Scalar
      xh_jac;  
  Scalar
      uh_jac;  
  Scalar xh_hess;  
  Scalar uh_hess;  
  Scalar xh_hess_pow2;
  Scalar uh_hess_pow2;
  Scalar xuh_hess_pow2;
  MatrixXs Rx;
  MatrixXs Ru;
  VectorXs dx;
  VectorXs du;
  VectorXs xp;
  std::shared_ptr<Base> data_0;
  std::vector<std::shared_ptr<Base> > data_x;
  std::vector<std::shared_ptr<Base> > data_u;
 
  using Base::cost;
  using Base::Fu;
  using Base::Fx;
  using Base::g;
  using Base::Gu;
  using Base::Gx;
  using Base::h;
  using Base::Hu;
  using Base::Hx;
  using Base::Lu;
  using Base::Luu;
  using Base::Lx;
  using Base::Lxu;
  using Base::Lxx;
  using Base::r;
  using Base::xout;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/numdiff/diff-action.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
    crocoddyl::DifferentialActionModelNumDiffTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
    crocoddyl::DifferentialActionDataNumDiffTpl)
 
#endif  // CROCODDYL_CORE_NUMDIFF_DIFF_ACTION_HPP_