A polynomial function of time of degree one, that is a linear function. More...

#include <poly-one.hpp>

Inheritance diagram for ControlParametrizationModelPolyOneTpl< _Scalar >:

Public Types
typedef ControlParametrizationModelAbstractTpl< Scalar >	Base

typedef ControlParametrizationDataAbstractTpl< Scalar >	ControlParametrizationDataAbstract

typedef ControlParametrizationDataPolyOneTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef _Scalar	Scalar

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ControlParametrizationModelAbstractTpl< _Scalar >
typedef ControlParametrizationDataAbstractTpl< Scalar >	ControlParametrizationDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ControlParametrizationModelPolyOneTpl (const std::size_t nw)
	Initialize the poly-one control parametrization.

virtual void	calc (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &u) const
	Get the value of the control at the specified time.

virtual void	calcDiff (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &u) const
	Get the value of the Jacobian of the control with respect to the parameters.

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
	Map the specified bounds from the control space to the parameter space.

virtual std::shared_ptr< ControlParametrizationDataAbstract >	createData ()
	Create the control-parametrization data.

virtual void	multiplyByJacobian (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, Eigen::Ref< MatrixXs > out, const AssignmentOp op=setto) const
	Compute the product between a specified matrix and the Jacobian of the control (with respect to the parameters)

virtual void	multiplyJacobianTransposeBy (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, Eigen::Ref< MatrixXs > out, const AssignmentOp op=setto) const
	Compute the product between the transposed Jacobian of the control (with respect to the parameters) and a specified matrix.

virtual void	params (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &w) const
	Get a value of the control parameters such that the control at the specified time t is equal to the specified value w.

Public Member Functions inherited from ControlParametrizationModelAbstractTpl< _Scalar >
	ControlParametrizationModelAbstractTpl (const std::size_t nw, const std::size_t nu)
	Initialize the control dimensions.

virtual void	calc (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &u) const =0
	Get the value of the control at the specified time.

virtual void	calcDiff (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &u) const =0
	Get the value of the Jacobian of the control with respect to the parameters.

virtual bool	checkData (const std::shared_ptr< ControlParametrizationDataAbstract > &data)
	Checks that a specific data belongs to this model.

std::size_t	get_nu () const
	Return the dimension of control parameters.

std::size_t	get_nw () const
	Return the dimension of the control inputs.

virtual MatrixXs	multiplyByJacobian_J (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, const AssignmentOp op=setto) const

virtual MatrixXs	multiplyJacobianTransposeBy_J (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, const AssignmentOp op=setto) const

virtual void	params (const std::shared_ptr< ControlParametrizationDataAbstract > &data, const Scalar t, const Eigen::Ref< const VectorXs > &w) const =0
	Update the control parameters u for a specified time t given the control input w.

Protected Attributes
std::size_t	nu_
	Control parameters dimension.

std::size_t	nw_
	Control dimension.

Protected Attributes inherited from ControlParametrizationModelAbstractTpl< _Scalar >
std::size_t	nu_
	Control parameters dimension.

std::size_t	nw_
	Control dimension.

Additional Inherited Members
Public Attributes inherited from ControlParametrizationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Detailed Description

template<typename _Scalar>
class crocoddyl::ControlParametrizationModelPolyOneTpl< _Scalar >

A polynomial function of time of degree one, that is a linear function.

The size of the parameters \(\mathbf{u}\) is twice the size of the control input \(\mathbf{w}\). The first half of \(\mathbf{u}\) represents the value of w at time 0. The second half of \(\mathbf{u}\) represents the value of \(\mathbf{w}\) at time 0.5.

The main computations are carried out in calc, multiplyByJacobian and multiplyJacobianTransposeBy, where the former computes control input \(\mathbf{w}\in\mathbb{R}^{nw}\) from a set of control parameters \(\mathbf{u}\in\mathbb{R}^{nu}\) where nw and nu represent the dimension of the control inputs and parameters, respectively, and the latter defines useful operations across the Jacobian of the control-parametrization model. Finally, params allows us to obtain the control parameters from the control input, i.e., it is the inverse of calc. Note that multiplyByJacobian and multiplyJacobianTransposeBy requires to run calc first.

See also: ControlParametrizationAbstractTpl, calc(), calcDiff(), createData(), params, multiplyByJacobian, multiplyJacobianTransposeBy

Definition at line 42 of file poly-one.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

typedef _Scalar Scalar

Definition at line 45 of file poly-one.hpp.

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 46 of file poly-one.hpp.

◆ ControlParametrizationDataAbstract

template<typename _Scalar >

typedef ControlParametrizationDataAbstractTpl<Scalar> ControlParametrizationDataAbstract

Definition at line 48 of file poly-one.hpp.

◆ Base

template<typename _Scalar >

typedef ControlParametrizationModelAbstractTpl<Scalar> Base

Definition at line 49 of file poly-one.hpp.

◆ Data

template<typename _Scalar >

typedef ControlParametrizationDataPolyOneTpl<Scalar> Data

Definition at line 50 of file poly-one.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 51 of file poly-one.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 52 of file poly-one.hpp.

Constructor & Destructor Documentation

◆ ControlParametrizationModelPolyOneTpl()

template<typename _Scalar >

ControlParametrizationModelPolyOneTpl ( const std::size_t nw )

explicit

Initialize the poly-one control parametrization.

Parameters

[in] nw Dimension of control vector

Member Function Documentation

◆ calc()

template<typename _Scalar >

virtual void calc	(	const std::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Scalar	t,
		const Eigen::Ref< const VectorXs > &	u
	)		const

virtual

Get the value of the control at the specified time.

Parameters

[in]	data	Control-parametrization data
[in]	t	Time in [0,1]
[in]	u	Control parameters

◆ calcDiff()

template<typename _Scalar >

virtual void calcDiff	(	const std::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Scalar	t,
		const Eigen::Ref< const VectorXs > &	u
	)		const

virtual

Get the value of the Jacobian of the control with respect to the parameters.

It assumes that calc() has been run first

Parameters

[in]	data	Control-parametrization data
[in]	t	Time in [0,1]
[in]	u	Control parameters

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< ControlParametrizationDataAbstract > createData ( )

virtual

Create the control-parametrization data.

Returns: the control-parametrization data

Reimplemented from ControlParametrizationModelAbstractTpl< _Scalar >.

◆ params()

template<typename _Scalar >

virtual void params	(	const std::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Scalar	t,
		const Eigen::Ref< const VectorXs > &	w
	)		const

virtual

Get a value of the control parameters such that the control at the specified time t is equal to the specified value w.

Parameters

[in]	data	Control-parametrization data
[in]	t	Time in [0,1]
[in]	w	Control values

◆ convertBounds()

template<typename _Scalar >

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

virtual

Map the specified bounds from the control space to the parameter space.

Parameters

[in]	w_lb	Control lower bound
[in]	w_ub	Control lower bound
[out]	u_lb	Control parameters lower bound
[out]	u_ub	Control parameters upper bound

Implements ControlParametrizationModelAbstractTpl< _Scalar >.

◆ multiplyByJacobian()

template<typename _Scalar >

virtual void multiplyByJacobian	(	const std::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Eigen::Ref< const MatrixXs > &	A,
		Eigen::Ref< MatrixXs >	out,
		const AssignmentOp	op = `setto`
	)		const

virtual

Compute the product between a specified matrix and the Jacobian of the control (with respect to the parameters)

It assumes that calc() has been run first

Parameters

[in]	data	Control-parametrization data
[in]	A	A matrix to multiply times the Jacobian
[out]	out	Product between the matrix A and the Jacobian of the control with respect to the parameters
[in]	op	Assignment operator which sets, adds, or removes the given results

Implements ControlParametrizationModelAbstractTpl< _Scalar >.

◆ multiplyJacobianTransposeBy()

template<typename _Scalar >

virtual void multiplyJacobianTransposeBy	(	const std::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Eigen::Ref< const MatrixXs > &	A,
		Eigen::Ref< MatrixXs >	out,
		const AssignmentOp	op = `setto`
	)		const

virtual

Compute the product between the transposed Jacobian of the control (with respect to the parameters) and a specified matrix.

It assumes that calc() has been run first

Parameters

[in]	data	Control-parametrization data
[in]	A	A matrix to multiply times the Jacobian
[out]	out	Product between the transposed Jacobian of the control with respect to the parameters and the matrix A
[in]	op	Assignment operator which sets, adds, or removes the given results

Implements ControlParametrizationModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Control parameters dimension.

Definition at line 186 of file control-base.hpp.

◆ nw_

template<typename _Scalar >

std::size_t nw_

protected

Control dimension.

Definition at line 185 of file control-base.hpp.

The documentation for this class was generated from the following file:

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/controls/poly-one.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ MathBase

◆ ControlParametrizationDataAbstract

◆ Base

◆ Data

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ControlParametrizationModelPolyOneTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ params()

◆ convertBounds()

◆ multiplyByJacobian()

◆ multiplyJacobianTransposeBy()

Member Data Documentation

◆ nu_

◆ nw_