This class computes the numerical differentiation of a cost model. More...

#include <cost.hpp>

Inheritance diagram for CostModelNumDiffTpl< _Scalar >:

Public Types
typedef CostModelAbstractTpl< Scalar >	Base

typedef CostDataAbstractTpl< Scalar >	CostDataAbstract

typedef CostDataNumDiffTpl< Scalar >	Data

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBaseTpl< Scalar >::MatrixXs	MatrixXs

typedef boost::function< void(const VectorXs &, const VectorXs &)>	ReevaluationFunction

typedef MathBaseTpl< Scalar >::VectorXs	VectorXs

Public Types inherited from CostModelAbstractTpl< _Scalar >
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract

typedef ActivationModelQuadTpl< Scalar >	ActivationModelQuad

typedef CostDataAbstractTpl< Scalar >	CostDataAbstract

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef ResidualModelAbstractTpl< Scalar >	ResidualModelAbstract

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	CostModelNumDiffTpl (const boost::shared_ptr< Base > &model)
	Initialize the numdiff cost model. More...

virtual	~CostModelNumDiffTpl ()
	Initialize the numdiff cost model.

virtual void	calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)

virtual void	calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the cost value and its residual vector. More...

virtual void	calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)

virtual void	calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the Jacobian and Hessian of cost and its residual vector. More...

virtual boost::shared_ptr< CostDataAbstract >	createData (DataCollectorAbstract *const data)
	Create a numdiff cost data. More...

const Scalar	get_disturbance () const
	Return the disturbance constant used by the numerical differentiation routine.

const boost::shared_ptr< Base > &	get_model () const
	Return the original cost model.

bool	get_with_gauss_approx ()
	Identify if the Gauss approximation is going to be used or not. More...

void	set_disturbance (const Scalar disturbance)
	Modify the disturbance constant used by the numerical differentiation routine.

void	set_reevals (const std::vector< ReevaluationFunction > &reevals)
	Register functions that updates the shared data computed for a system rollout The updated data is used to evaluate of the gradient and Hessian. More...

Public Member Functions inherited from CostModelAbstractTpl< _Scalar >
	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation)
	Initialize the cost model. More...

	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, boost::shared_ptr< ResidualModelAbstract > residual)
	Initialize the cost model. More...

	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu)
	Initialize the cost model. More...

	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ResidualModelAbstract > residual)
	Initialize the cost model. More...

	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr)
	Initialize the cost model. More...

	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu)
	Initialize the cost model. More...

const boost::shared_ptr< ActivationModelAbstract > &	get_activation () const
	Return the activation model.

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

template<class ReferenceType >
ReferenceType	get_reference ()
	Return the cost reference.

const boost::shared_ptr< ResidualModelAbstract > &	get_residual () const
	Return the residual model.

const boost::shared_ptr< StateAbstract > &	get_state () const
	Return the state.

virtual void	print (std::ostream &os) const
	Print relevant information of the cost model. More...

template<class ReferenceType >
void	set_reference (ReferenceType ref)
	Modify the cost reference.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Public Attributes inherited from CostModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
boost::shared_ptr< ActivationModelAbstract >	activation_
	Activation model.

std::size_t	nu_
	Control dimension.

boost::shared_ptr< StateAbstract >	state_
	State description.

VectorXs	unone_
	No control vector.

Protected Attributes inherited from CostModelAbstractTpl< _Scalar >
boost::shared_ptr< ActivationModelAbstract >	activation_
	Activation model.

std::size_t	nu_
	Control dimension.

boost::shared_ptr< ResidualModelAbstract >	residual_
	Residual model.

boost::shared_ptr< StateAbstract >	state_
	State description.

VectorXs	unone_
	No control vector.

Additional Inherited Members
Protected Member Functions inherited from CostModelAbstractTpl< _Scalar >
virtual void	get_referenceImpl (const std::type_info &, void *)
	Return the cost reference.

virtual void	set_referenceImpl (const std::type_info &, const void *)
	Modify the cost reference.

Detailed Description

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

This class computes the numerical differentiation of a cost model.

It computes the Jacobian and Hessian of the cost model via numerical differentiation, i.e., \(\mathbf{\ell_x}\), \(\mathbf{\ell_u}\), \(\mathbf{\ell_{xx}}\), \(\mathbf{\ell_{uu}}\), and \(\mathbf{\ell_{xu}}\) which denote the Jacobians and Hessians of the cost function, respectively.

See also: CostModelAbstractTpl(), calcDiff()

Definition at line 34 of file cost.hpp.

Constructor & Destructor Documentation

◆ CostModelNumDiffTpl()

CostModelNumDiffTpl ( const boost::shared_ptr< Base > & model )

explicit

Initialize the numdiff cost model.

Parameters

model Cost model that we want to apply the numerical differentiation

Member Function Documentation

◆ calc() [1/2]

virtual void calc	(	const boost::shared_ptr< CostDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

virtual

Compute the cost value and its residual vector.

Parameters

[in]	data	Cost data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements CostModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

virtual void calc	(	const boost::shared_ptr< CostDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

It updates the total cost based on the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Cost data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from CostModelAbstractTpl< _Scalar >.

◆ calcDiff() [1/2]

virtual void calcDiff	(	const boost::shared_ptr< CostDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

virtual

Compute the Jacobian and Hessian of cost and its residual vector.

It computes the Jacobian and Hessian of the cost function. It assumes that calc() has been run first.

Parameters

[in]	data	Cost data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements CostModelAbstractTpl< _Scalar >.

◆ calcDiff() [2/2]

virtual void calcDiff	(	const boost::shared_ptr< CostDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

It updates the Jacobian and Hessian of the cost function based on the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Cost data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from CostModelAbstractTpl< _Scalar >.

◆ createData()

virtual boost::shared_ptr<CostDataAbstract> createData ( DataCollectorAbstract *const data )

virtual

Create a numdiff cost data.

Parameters

data	Data collector used by the original model

Returns: the numdiff cost data

Reimplemented from CostModelAbstractTpl< _Scalar >.

◆ get_with_gauss_approx()

bool get_with_gauss_approx ( )

Identify if the Gauss approximation is going to be used or not.

Returns: true; false

◆ set_reevals()

void set_reevals ( const std::vector< ReevaluationFunction > & reevals )

Register functions that updates the shared data computed for a system rollout The updated data is used to evaluate of the gradient and Hessian.

Parameters

reevals are the registered functions.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/numdiff/cost.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

◆ CostModelNumDiffTpl()

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ get_with_gauss_approx()

◆ set_reevals()

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