crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
Loading...
Searching...
No Matches
poly-zero.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2021, University of Edinburgh, University of Trento
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_CORE_CONTROLS_POLY_ZERO_HPP_
10#define CROCODDYL_CORE_CONTROLS_POLY_ZERO_HPP_
11
12#include "crocoddyl/core/fwd.hpp"
13#include "crocoddyl/core/utils/exception.hpp"
14#include "crocoddyl/core/control-base.hpp"
15
16namespace crocoddyl {
17
31template <typename _Scalar>
33 public:
34 typedef _Scalar Scalar;
39 typedef typename MathBase::VectorXs VectorXs;
40 typedef typename MathBase::MatrixXs MatrixXs;
41
47 explicit ControlParametrizationModelPolyZeroTpl(const std::size_t nw);
49
57 virtual void calc(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, const Scalar t,
58 const Eigen::Ref<const VectorXs>& u) const;
59
69 virtual void calcDiff(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, const Scalar t,
70 const Eigen::Ref<const VectorXs>& u) const;
71
77 virtual boost::shared_ptr<ControlParametrizationDataAbstract> createData();
78
87 virtual void params(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, const Scalar t,
88 const Eigen::Ref<const VectorXs>& w) const;
89
98 virtual void convertBounds(const Eigen::Ref<const VectorXs>& w_lb, const Eigen::Ref<const VectorXs>& w_ub,
99 Eigen::Ref<VectorXs> u_lb, Eigen::Ref<VectorXs> u_ub) const;
100
112 virtual void multiplyByJacobian(const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
113 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
114 const AssignmentOp = setto) const;
115
128 virtual void multiplyJacobianTransposeBy(const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
129 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
130 const AssignmentOp = setto) const;
131
132 protected:
133 using Base::nu_;
134 using Base::nw_;
135};
136
137} // namespace crocoddyl
138
139/* --- Details -------------------------------------------------------------- */
140/* --- Details -------------------------------------------------------------- */
141/* --- Details -------------------------------------------------------------- */
142#include "crocoddyl/core/controls/poly-zero.hxx"
143
144#endif // CROCODDYL_CORE_CONTROLS_POLY_ZERO_HPP_
Abstract class for the control trajectory parametrization.
std::size_t nu_
Control parameters dimension.
A polynomial function of time of degree zero, that is a constant.
Definition: poly-zero.hpp:32
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.
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 boost::shared_ptr< ControlParametrizationDataAbstract > createData()
Create the control-parametrization data.
ControlParametrizationModelPolyZeroTpl(const std::size_t nw)
Initialize the poly-zero control parametrization.
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...
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 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 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...