action.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, New York University,
//                          Max Planck Gesellschaft, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_NUMDIFF_ACTION_HPP_
#define CROCODDYL_CORE_NUMDIFF_ACTION_HPP_
 
#include "crocoddyl/core/action-base.hpp"
#include "crocoddyl/core/fwd.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ActionModelNumDiffTpl : public ActionModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ActionModelBase, ActionModelNumDiffTpl)
 
  typedef _Scalar Scalar;
  typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract;
  typedef ActionModelAbstractTpl<Scalar> Base;
  typedef ActionDataNumDiffTpl<Scalar> Data;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
  typedef typename MathBaseTpl<Scalar>::MatrixXs MatrixXs;
 
  explicit ActionModelNumDiffTpl(std::shared_ptr<Base> model,
                                 bool with_gauss_approx = false);
  virtual ~ActionModelNumDiffTpl() = default;
 
  virtual void calc(const std::shared_ptr<ActionDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calc(const std::shared_ptr<ActionDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) override;
 
  virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x) override;
 
  virtual std::shared_ptr<ActionDataAbstract> createData() override;
 
  virtual void quasiStatic(const std::shared_ptr<ActionDataAbstract>& data,
                           Eigen::Ref<VectorXs> u,
                           const Eigen::Ref<const VectorXs>& x,
                           const std::size_t maxiter = 100,
                           const Scalar tol = Scalar(1e-9)) override;
 
  template <typename NewScalar>
  ActionModelNumDiffTpl<NewScalar> cast() const;
 
  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_;  
  Scalar e_jac_;   
  Scalar e_hess_;  
  bool with_gauss_approx_;  
};
 
template <typename _Scalar>
struct ActionDataNumDiffTpl : public ActionDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActionDataAbstractTpl<Scalar> Base;
  typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
  typedef typename MathBaseTpl<Scalar>::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  explicit ActionDataNumDiffTpl(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());
    }
  }
 
  using Base::cost;
  using Base::Fu;
  using Base::Fx;
  using Base::Lu;
  using Base::Luu;
  using Base::Lx;
  using Base::Lxu;
  using Base::Lxx;
  using Base::r;
  using Base::xnext;
 
  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;  
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/numdiff/action.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActionModelNumDiffTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ActionDataNumDiffTpl)
 
#endif  // CROCODDYL_CORE_NUMDIFF_ACTION_HPP_