crocoddyl
1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
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9 #ifndef CROCODDYL_CORE_CONTROLS_POLY_ONE_HPP_
10 #define CROCODDYL_CORE_CONTROLS_POLY_ONE_HPP_
12 #include "crocoddyl/core/fwd.hpp"
13 #include "crocoddyl/core/utils/exception.hpp"
14 #include "crocoddyl/core/control-base.hpp"
36 template <
typename _Scalar>
39 typedef _Scalar Scalar;
44 typedef typename MathBase::VectorXs VectorXs;
45 typedef typename MathBase::MatrixXs MatrixXs;
62 virtual void calc(
const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
const Scalar t,
63 const Eigen::Ref<const VectorXs>& u)
const;
74 virtual void calcDiff(
const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
const Scalar t,
75 const Eigen::Ref<const VectorXs>& u)
const;
82 virtual boost::shared_ptr<ControlParametrizationDataAbstract>
createData();
92 virtual void params(
const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
const Scalar t,
93 const Eigen::Ref<const VectorXs>& w)
const;
103 virtual void convertBounds(
const Eigen::Ref<const VectorXs>& w_lb,
const Eigen::Ref<const VectorXs>& w_ub,
104 Eigen::Ref<VectorXs> u_lb, Eigen::Ref<VectorXs> u_ub)
const;
117 virtual void multiplyByJacobian(
const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
118 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
119 const AssignmentOp = setto)
const;
134 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
135 const AssignmentOp = setto)
const;
142 template <
typename _Scalar>
144 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
146 typedef _Scalar Scalar;
149 typedef typename MathBase::Vector2s Vector2s;
151 template <
template <
typename Scalar>
class Model>
166 #include "crocoddyl/core/controls/poly-one.hxx"
168 #endif // CROCODDYL_CORE_CONTROLS_POLY_ONE_HPP_
Abstract class for the control trajectory parametrization.
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) a...
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.
std::size_t nu_
Control parameters dimension.
Vector2s c
Coefficients of the linear control that depends on time.
A polynomial function of time of degree one, that is a linear function.
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 s...
std::size_t nw_
Control dimension.
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.
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 p...
ControlParametrizationModelPolyOneTpl(const std::size_t nw)
Initialize the poly-one control parametrization.
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.
virtual boost::shared_ptr< ControlParametrizationDataAbstract > createData()
Create the control-parametrization data.