control.hpp

// BSD 3-Clause License
//
// Copyright (C) 2021-2023, LAAS-CNRS, New York University, Max Planck
// Gesellschaft,
//                          University of Edinburgh, University of Trento,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_NUMDIFF_CONTROL_HPP_
#define CROCODDYL_CORE_NUMDIFF_CONTROL_HPP_
 
#include <boost/make_shared.hpp>
#include <memory>
#include <vector>
 
#include "crocoddyl/core/control-base.hpp"
#include "crocoddyl/core/fwd.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ControlParametrizationModelNumDiffTpl
    : public ControlParametrizationModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ControlParametrizationModelAbstractTpl<_Scalar> Base;
  typedef ControlParametrizationDataNumDiffTpl<_Scalar> Data;
  typedef ControlParametrizationDataAbstractTpl<_Scalar>
      ControlParametrizationDataAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  explicit ControlParametrizationModelNumDiffTpl(std::shared_ptr<Base> model);
  virtual ~ControlParametrizationModelNumDiffTpl();
 
  void calc(const std::shared_ptr<ControlParametrizationDataAbstract>& data,
            const Scalar t, const Eigen::Ref<const VectorXs>& u) const;
 
  void calcDiff(const std::shared_ptr<ControlParametrizationDataAbstract>& data,
                const Scalar t, const Eigen::Ref<const VectorXs>& u) const;
 
  virtual std::shared_ptr<ControlParametrizationDataAbstract> createData();
 
  void params(const std::shared_ptr<ControlParametrizationDataAbstract>& data,
              const Scalar t, const Eigen::Ref<const VectorXs>& w) const;
 
  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;
 
  void multiplyByJacobian(
      const std::shared_ptr<ControlParametrizationDataAbstract>& data,
      const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
      const AssignmentOp = setto) const;
 
  void multiplyJacobianTransposeBy(
      const std::shared_ptr<ControlParametrizationDataAbstract>& data,
      const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
      const AssignmentOp = setto) const;
 
  const std::shared_ptr<Base>& get_model() const;
 
  const Scalar get_disturbance() const;
 
  void set_disturbance(const Scalar disturbance);
 
 private:
  std::shared_ptr<Base>
      model_;     
  Scalar e_jac_;  
 
 protected:
  using Base::nu_;
  using Base::nw_;
};
 
template <typename _Scalar>
struct ControlParametrizationDataNumDiffTpl
    : public ControlParametrizationDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
  typedef ControlParametrizationDataAbstractTpl<Scalar> Base;
 
  template <template <typename Scalar> class Model>
  explicit ControlParametrizationDataNumDiffTpl(Model<Scalar>* const model)
      : Base(model), du(model->get_nu()) {
    du.setZero();
 
    const std::size_t nu = model->get_model()->get_nu();
    data_0 = model->get_model()->createData();
    for (std::size_t i = 0; i < nu; ++i) {
      data_u.push_back(model->get_model()->createData());
    }
  }
 
  virtual ~ControlParametrizationDataNumDiffTpl() {}
 
  VectorXs du;  
  std::shared_ptr<Base> data_0;  
  std::vector<std::shared_ptr<Base> >
      data_u;  
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/numdiff/control.hxx"
 
#endif  // CROCODDYL_CORE_NUMDIFF_CONTROL_HPP_