A polynomial function of time of degree zero, that is a constant. More...

#include <crocoddyl/core/controls/poly-zero.hpp>

Inheritance diagram for ControlParametrizationModelPolyZeroTpl< _Scalar >:

Collaboration diagram for ControlParametrizationModelPolyZeroTpl< _Scalar >:

Public Types
typedef ControlParametrizationModelAbstractTpl< Scalar >	Base

typedef ControlParametrizationDataAbstractTpl< Scalar >	ControlParametrizationDataAbstract

typedef ControlParametrizationDataAbstractTpl< 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
	ControlParametrizationModelPolyZeroTpl (const std::size_t nw)
	Initialize the poly-zero 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 such that the control at the specified time t is equal to the specified value u. 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::ControlParametrizationModelPolyZeroTpl< _Scalar >

A polynomial function of time of degree zero, that is a constant.

The main computations are carrying 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 dual of calc. Note that multiplyByJacobian and multiplyJacobianTransposeBy requires to run calc first.

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

Definition at line 32 of file poly-zero.hpp.

Constructor & Destructor Documentation

◆ ControlParametrizationModelPolyZeroTpl()

ControlParametrizationModelPolyZeroTpl ( const std::size_t nw )

explicit

Initialize the poly-zero control parametrization.

Parameters

[in] nw Dimension of control vector

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	Control-parametrization 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	Control-parametrization 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 such that the control at the specified time t is equal to the specified value u.

Parameters

[in]	data	Control-parametrization 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	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()

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	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 >.

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

include/crocoddyl/core/controls/poly-zero.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

◆ ControlParametrizationModelPolyZeroTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ params()

◆ convertBounds()

◆ multiplyByJacobian()

◆ multiplyJacobianTransposeBy()

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