residual.hpp

// BSD 3-Clause License
//
// Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_NUMDIFF_RESIDUAL_HPP_
#define CROCODDYL_CORE_NUMDIFF_RESIDUAL_HPP_
 
#include <boost/function.hpp>
 
#include "crocoddyl/core/residual-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ResidualModelNumDiffTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelNumDiffTpl)
 
  typedef _Scalar Scalar;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataNumDiffTpl<Scalar> Data;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
  typedef typename MathBaseTpl<Scalar>::MatrixXs MatrixXs;
  typedef boost::function<void(const VectorXs&, const VectorXs&)>
      ReevaluationFunction;
 
  explicit ResidualModelNumDiffTpl(const std::shared_ptr<Base>& model);
 
  virtual ~ResidualModelNumDiffTpl() = default;
 
  virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) override;
 
  virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x) override;
 
  virtual std::shared_ptr<ResidualDataAbstract> createData(
      DataCollectorAbstract* const data) override;
 
  template <typename NewScalar>
  ResidualModelNumDiffTpl<NewScalar> cast() const;
 
  const std::shared_ptr<Base>& get_model() const;
 
  const Scalar get_disturbance() const;
 
  void set_disturbance(const Scalar disturbance);
 
  void set_reevals(const std::vector<ReevaluationFunction>& reevals);
 
 protected:
  using Base::nu_;
  using Base::state_;
  using Base::unone_;
 
 private:
  void assertStableStateFD(const Eigen::Ref<const VectorXs>& /*x*/);
 
  std::shared_ptr<Base> model_;  
  Scalar e_jac_;  
  std::vector<ReevaluationFunction>
      reevals_;  
};
 
template <typename _Scalar>
struct ResidualDataNumDiffTpl : public ResidualDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> Base;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
  typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
 
  template <template <typename Scalar> class Model>
  explicit ResidualDataNumDiffTpl(Model<Scalar>* const model,
                                  DataCollectorAbstract* const shared_data)
      : Base(model, shared_data),
        dx(model->get_state()->get_ndx()),
        xp(model->get_state()->get_nx()),
        du(model->get_nu()),
        up(model->get_nu()) {
    dx.setZero();
    xp.setZero();
    du.setZero();
    up.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(shared_data);
    for (std::size_t i = 0; i < ndx; ++i) {
      data_x.push_back(model->get_model()->createData(shared_data));
    }
    for (std::size_t i = 0; i < nu; ++i) {
      data_u.push_back(model->get_model()->createData(shared_data));
    }
  }
 
  virtual ~ResidualDataNumDiffTpl() {}
 
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
 
  Scalar x_norm;  
  Scalar
      xh_jac;  
  Scalar
      uh_jac;  
  VectorXs dx;  
  VectorXs xp;  
  VectorXs du;  
  VectorXs up;  
  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/residual.hxx"
 
#endif  // CROCODDYL_CORE_NUMDIFF_RESIDUAL_HPP_