actuation.hpp

 
// BSD 3-Clause License
//
// Copyright (C) 2019-2025, University of Edinburgh, LAAS-CNRS
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_
#define CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_
 
#include "crocoddyl/core/actuation-base.hpp"
#include "crocoddyl/core/fwd.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ActuationModelNumDiffTpl : public ActuationModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ActuationModelBase, ActuationModelNumDiffTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActuationModelAbstractTpl<Scalar> Base;
  typedef ActuationDataNumDiffTpl<Scalar> Data;
  typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  explicit ActuationModelNumDiffTpl(std::shared_ptr<Base> model);
 
  virtual ~ActuationModelNumDiffTpl() = default;
 
  virtual void calc(const std::shared_ptr<ActuationDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calc(const std::shared_ptr<ActuationDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x);
 
  virtual void calcDiff(const std::shared_ptr<ActuationDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calcDiff(const std::shared_ptr<ActuationDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x);
 
  virtual void commands(const std::shared_ptr<ActuationDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& tau) override;
 
  virtual void torqueTransform(
      const std::shared_ptr<ActuationDataAbstract>& data,
      const Eigen::Ref<const VectorXs>& x,
      const Eigen::Ref<const VectorXs>& u) override;
 
  virtual std::shared_ptr<ActuationDataAbstract> createData() override;
 
  template <typename NewScalar>
  ActuationModelNumDiffTpl<NewScalar> cast() const;
 
  const std::shared_ptr<Base>& get_model() const;
 
  const Scalar get_disturbance() const;
 
  void set_disturbance(const Scalar disturbance);
 
 private:
  std::shared_ptr<Base> model_;  
  Scalar e_jac_;  
 
 protected:
  using Base::nu_;
};
 
template <typename _Scalar>
struct ActuationDataNumDiffTpl : public ActuationDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBase::VectorXs VectorXs;
  typedef ActuationDataAbstractTpl<Scalar> Base;
 
  template <template <typename Scalar> class Model>
  explicit ActuationDataNumDiffTpl(Model<Scalar>* const model)
      : Base(model),
        dx(model->get_model()->get_state()->get_ndx()),
        du(model->get_model()->get_nu()),
        xp(model->get_model()->get_state()->get_nx()) {
    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;  
  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::dtau_du;
  using Base::dtau_dx;
  using Base::tau;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/numdiff/actuation.hxx"
 
#endif  // CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_