A polynomial function of time of degree two, that is a quadratic function. More...

#include <poly-two-rk.hpp>

Inheritance diagram for ControlParametrizationModelPolyTwoRKTpl< _Scalar >:

Public Types
typedef ControlParametrizationModelAbstractTpl< Scalar >	Base

typedef ControlParametrizationDataAbstractTpl< Scalar >	ControlParametrizationDataAbstract

typedef ControlParametrizationDataPolyTwoRKTpl< 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
	ControlParametrizationModelPolyTwoRKTpl (const std::size_t nw, const RKType rktype)
	Initialize the poly-two RK control parametrization. More...

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

virtual void	calcDiff (const boost::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. More...

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. More...

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

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

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

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

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

virtual void	calc (const boost::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. More...

virtual void	calcDiff (const boost::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. More...

virtual bool	checkData (const boost::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 boost::shared_ptr< ControlParametrizationDataAbstract > &data, const Eigen::Ref< const MatrixXs > &A, const AssignmentOp=setto) const

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

virtual void	params (const boost::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. More...

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::ControlParametrizationModelPolyTwoRKTpl< _Scalar >

A polynomial function of time of degree two, that is a quadratic function.

The size of the parameters \(\mathbf{u}\) is 3 times the size of the control input \(\mathbf{w}\). It defines a polynomial of degree two, customized for the RK4 and RK4 integrators (even though it can be used with whatever integration scheme). The first third of \(\mathbf{u}\) represents the value of \(\mathbf{w}\) at time 0. The second third of \(\mathbf{u}\) represents the value of \(\mathbf{w}\) at time 0.5 or 1/3 for RK4 and RK3 parametrization, respectively. The last third of \(\mathbf{u}\) represents the value of \(\mathbf{w}\) at time 1 or 2/3 for the RK4 and RK3 parametrization, respectively. This parametrization is suitable to be used with the RK-4 or RK-3 integration schemes, because they require the value of \(\mathbf{w}\) exactly at 0, 0.5, 1 (for RK4) or 0, 1/3, 2/3 (for RK3).

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 a 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 50 of file poly-two-rk.hpp.

Constructor & Destructor Documentation

◆ ControlParametrizationModelPolyTwoRKTpl()

ControlParametrizationModelPolyTwoRKTpl	(	const std::size_t	nw,
		const RKType	rktype
	)

explicit

Initialize the poly-two RK control parametrization.

Parameters

[in]	nw	Dimension of control vector
[in]	rktype	Type of RK parametrization

Member Function Documentation

◆ calc()

virtual void calc	(	const boost::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	Poly-two-RK data
[in]	t	Time in [0,1]
[in]	u	Control parameters

◆ calcDiff()

virtual void calcDiff	(	const boost::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	Poly-two-RK data
[in]	t	Time in [0,1]
[in]	u	Control parameters

◆ createData()

virtual boost::shared_ptr<ControlParametrizationDataAbstract> createData ( )

virtual

Create the control-parametrization data.

Returns: the control-parametrization data

Reimplemented from ControlParametrizationModelAbstractTpl< _Scalar >.

◆ params()

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

virtual

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

Parameters

[in]	data	Poly-two-RK data
[in]	t	Time in [0,1]
[in]	w	Control values

◆ convertBounds()

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()

virtual void multiplyByJacobian	(	const boost::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Eigen::Ref< const MatrixXs > &	A,
		Eigen::Ref< MatrixXs >	out,
		const	AssignmentOp = `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	Poly-two-RK 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()

virtual void multiplyJacobianTransposeBy	(	const boost::shared_ptr< ControlParametrizationDataAbstract > &	data,
		const Eigen::Ref< const MatrixXs > &	A,
		Eigen::Ref< MatrixXs >	out,
		const	AssignmentOp = `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	Poly-two-RK 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 >.

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-two-rk.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

◆ ControlParametrizationModelPolyTwoRKTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ params()

◆ convertBounds()

◆ multiplyByJacobian()

◆ multiplyJacobianTransposeBy()

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