This class computes the numerical differentiation of a differential action model.
More...
|
| | DifferentialActionModelNumDiffTpl (boost::shared_ptr< Base > model, const bool with_gauss_approx=false) |
| | Initialize the numdiff differential action model. More...
|
| |
| virtual void | calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
| |
| virtual void | calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| | Compute the system acceleration and cost value. More...
|
| |
| virtual void | calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
| |
| virtual void | calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| | Compute the derivatives of the dynamics and cost functions. More...
|
| |
| virtual boost::shared_ptr< DifferentialActionDataAbstract > | createData () |
| | Create the differential action data. More...
|
| |
|
const Scalar | get_disturbance () const |
| | Return the disturbance constant used in the numerical differentiation routine.
|
| |
|
const boost::shared_ptr< Base > & | get_model () const |
| | Return the differential acton model that we use to numerical differentiate.
|
| |
|
bool | get_with_gauss_approx () |
| | Identify if the Gauss approximation is going to be used or not.
|
| |
| virtual void | print (std::ostream &os) const |
| | Print relevant information of the action numdiff model. More...
|
| |
| virtual void | quasiStatic (const boost::shared_ptr< DifferentialActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
| | Computes the quasic static commands. More...
|
| |
|
void | set_disturbance (const Scalar disturbance) |
| | Modify the disturbance constant used in the numerical differentiation routine.
|
| |
| | DifferentialActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0, const std::size_t ng=0, const std::size_t nh=0) |
| | Initialize the differential action model. More...
|
| |
|
virtual bool | checkData (const boost::shared_ptr< DifferentialActionDataAbstract > &data) |
| | Checks that a specific data belongs to this model.
|
| |
|
virtual const VectorXs & | get_g_lb () const |
| | Return the lower bound of the inequality constraints.
|
| |
|
virtual const VectorXs & | get_g_ub () const |
| | Return the upper bound of the inequality constraints.
|
| |
|
bool | get_has_control_limits () const |
| | Indicates if there are defined control limits.
|
| |
|
virtual std::size_t | get_ng () const |
| | Return the number of inequality constraints.
|
| |
|
virtual std::size_t | get_nh () const |
| | Return the number of equality constraints.
|
| |
|
std::size_t | get_nr () const |
| | Return the dimension of the cost-residual vector.
|
| |
|
std::size_t | get_nu () const |
| | Return the dimension of the control input.
|
| |
|
const boost::shared_ptr< StateAbstract > & | get_state () const |
| | Return the state.
|
| |
|
const VectorXs & | get_u_lb () const |
| | Return the control lower bound.
|
| |
|
const VectorXs & | get_u_ub () const |
| | Return the control upper bound.
|
| |
| VectorXs | quasiStatic_x (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
| |
|
void | set_g_lb (const VectorXs &g_lb) |
| | Modify the lower bound of the inequality constraints.
|
| |
|
void | set_g_ub (const VectorXs &g_ub) |
| | Modify the upper bound of the inequality constraints.
|
| |
|
void | set_u_lb (const VectorXs &u_lb) |
| | Modify the control lower bounds.
|
| |
|
void | set_u_ub (const VectorXs &u_ub) |
| | Modify the control upper bounds.
|
| |
template<typename _Scalar>
class crocoddyl::DifferentialActionModelNumDiffTpl< _Scalar >
This class computes the numerical differentiation of a differential action model.
It computes the Jacobian of the cost, its residual and dynamics via numerical differentiation. It considers that the action model owns a cost residual and the cost is the square of this residual, i.e., \(\ell(\mathbf{x},\mathbf{u})=\frac{1}{2}\|\mathbf{r}(\mathbf{x},\mathbf{u})\|^2\), where \(\mathbf{r}(\mathbf{x},\mathbf{u})\) is the residual vector. The Hessian is computed only through the Gauss-Newton approximation, i.e.,
\begin{eqnarray*} \mathbf{\ell}_\mathbf{xx} &=& \mathbf{R_x}^T\mathbf{R_x} \\ \mathbf{\ell}_\mathbf{uu} &=& \mathbf{R_u}^T\mathbf{R_u} \\ \mathbf{\ell}_\mathbf{xu} &=& \mathbf{R_x}^T\mathbf{R_u} \end{eqnarray*}
where the Jacobians of the cost residuals are denoted by \(\mathbf{R_x}\) and \(\mathbf{R_u}\). Note that this approximation ignores the tensor products (e.g., \(\mathbf{R_{xx}}\mathbf{r}\)).
Finally, in the case that the cost does not have a residual, we set the Hessian to zero, i.e., \(\mathbf{L_{xx}} = \mathbf{L_{xu}} = \mathbf{L_{uu}} = \mathbf{0}\).
- See also
DifferentialActionModelAbstractTpl(), calcDiff()
Definition at line 47 of file diff-action.hpp.
Public Types inherited from DifferentialActionModelAbstractTpl< _Scalar >
1.9.1