Crocoddyl
 
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poly-one.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2021-2025, University of Edinburgh, University of Trento,
5// Heriot-Watt University
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_CORE_CONTROLS_POLY_ONE_HPP_
11#define CROCODDYL_CORE_CONTROLS_POLY_ONE_HPP_
12
13#include "crocoddyl/core/control-base.hpp"
14#include "crocoddyl/core/fwd.hpp"
15
16namespace crocoddyl {
17
40template <typename _Scalar>
43 public:
44 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
45 CROCODDYL_DERIVED_CAST(ControlParametrizationModelBase,
47
48 typedef _Scalar Scalar;
54 typedef typename MathBase::VectorXs VectorXs;
55 typedef typename MathBase::MatrixXs MatrixXs;
56
62 explicit ControlParametrizationModelPolyOneTpl(const std::size_t nw);
64
72 virtual void calc(
73 const std::shared_ptr<ControlParametrizationDataAbstract>& data,
74 const Scalar t, const Eigen::Ref<const VectorXs>& u) const override;
75
86 virtual void calcDiff(
87 const std::shared_ptr<ControlParametrizationDataAbstract>& data,
88 const Scalar t, const Eigen::Ref<const VectorXs>& u) const override;
89
95 virtual std::shared_ptr<ControlParametrizationDataAbstract> createData()
96 override;
97
106 virtual void params(
107 const std::shared_ptr<ControlParametrizationDataAbstract>& data,
108 const Scalar t, const Eigen::Ref<const VectorXs>& w) const override;
109
119 virtual void convertBounds(const Eigen::Ref<const VectorXs>& w_lb,
120 const Eigen::Ref<const VectorXs>& w_ub,
121 Eigen::Ref<VectorXs> u_lb,
122 Eigen::Ref<VectorXs> u_ub) const override;
123
137 virtual void multiplyByJacobian(
138 const std::shared_ptr<ControlParametrizationDataAbstract>& data,
139 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
140 const AssignmentOp = setto) const override;
141
156 const std::shared_ptr<ControlParametrizationDataAbstract>& data,
157 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
158 const AssignmentOp = setto) const override;
159
160 template <typename NewScalar>
162
163 virtual void print(std::ostream& os) const override;
164
165 protected:
166 using Base::nu_;
167 using Base::nw_;
168};
169
170template <typename _Scalar>
172 : public ControlParametrizationDataAbstractTpl<_Scalar> {
173 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
174
175 typedef _Scalar Scalar;
178 typedef typename MathBase::Vector2s Vector2s;
179
180 template <template <typename Scalar> class Model>
181 explicit ControlParametrizationDataPolyOneTpl(Model<Scalar>* const model)
182 : Base(model) {
183 c.setZero();
184 }
185 virtual ~ControlParametrizationDataPolyOneTpl() = default;
186
187 Vector2s c;
188
189 using Base::dw_du;
190 using Base::u;
191 using Base::w;
192};
193
194} // namespace crocoddyl
195
196/* --- Details -------------------------------------------------------------- */
197/* --- Details -------------------------------------------------------------- */
198/* --- Details -------------------------------------------------------------- */
199#include "crocoddyl/core/controls/poly-one.hxx"
200
201CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
203CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
205
206#endif // CROCODDYL_CORE_CONTROLS_POLY_ONE_HPP_
Abstract class for the control trajectory parametrization.
std::size_t nu_
Control parameters dimension.
A polynomial function of time of degree one, that is a linear function.
Definition poly-one.hpp:42
virtual 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.
virtual 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 p...
virtual 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.
virtual std::shared_ptr< ControlParametrizationDataAbstract > createData() override
Create the control-parametrization data.
virtual 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) a...
ControlParametrizationModelPolyOneTpl(const std::size_t nw)
Initialize the poly-one control parametrization.
virtual 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 s...
virtual 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
Map the specified bounds from the control space to the parameter space.
virtual void print(std::ostream &os) const override
Print relevant information of the control model.
VectorXs w
value of the differential control
VectorXs u
value of the control parameters
Vector2s c
Coefficients of the linear control that depends on time.
Definition poly-one.hpp:187