crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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diff-lqr.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_CORE_ACTIONS_DIFF_LQR_HPP_
10#define CROCODDYL_CORE_ACTIONS_DIFF_LQR_HPP_
11
12#include <stdexcept>
13
14#include "crocoddyl/core/fwd.hpp"
15#include "crocoddyl/core/diff-action-base.hpp"
16#include "crocoddyl/core/states/euclidean.hpp"
17
18namespace crocoddyl {
19
20template <typename _Scalar>
22 public:
23 typedef _Scalar Scalar;
29 typedef typename MathBase::VectorXs VectorXs;
30 typedef typename MathBase::MatrixXs MatrixXs;
31
32 DifferentialActionModelLQRTpl(const std::size_t nq, const std::size_t nu, const bool drift_free = true);
34
35 virtual void calc(const boost::shared_ptr<DifferentialActionDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
36 const Eigen::Ref<const VectorXs>& u);
37 virtual void calc(const boost::shared_ptr<DifferentialActionDataAbstract>& data,
38 const Eigen::Ref<const VectorXs>& x);
39 virtual void calcDiff(const boost::shared_ptr<DifferentialActionDataAbstract>& data,
40 const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u);
41 virtual void calcDiff(const boost::shared_ptr<DifferentialActionDataAbstract>& data,
42 const Eigen::Ref<const VectorXs>& x);
43 virtual boost::shared_ptr<DifferentialActionDataAbstract> createData();
44 virtual bool checkData(const boost::shared_ptr<DifferentialActionDataAbstract>& data);
45
46 const MatrixXs& get_Fq() const;
47 const MatrixXs& get_Fv() const;
48 const MatrixXs& get_Fu() const;
49 const VectorXs& get_f0() const;
50 const VectorXs& get_lx() const;
51 const VectorXs& get_lu() const;
52 const MatrixXs& get_Lxx() const;
53 const MatrixXs& get_Lxu() const;
54 const MatrixXs& get_Luu() const;
55
56 void set_Fq(const MatrixXs& Fq);
57 void set_Fv(const MatrixXs& Fv);
58 void set_Fu(const MatrixXs& Fu);
59 void set_f0(const VectorXs& f0);
60 void set_lx(const VectorXs& lx);
61 void set_lu(const VectorXs& lu);
62 void set_Lxx(const MatrixXs& Lxx);
63 void set_Lxu(const MatrixXs& Lxu);
64 void set_Luu(const MatrixXs& Luu);
65
71 virtual void print(std::ostream& os) const;
72
73 protected:
74 using Base::nu_;
75 using Base::state_;
76
77 private:
78 bool drift_free_;
79 MatrixXs Fq_;
80 MatrixXs Fv_;
81 MatrixXs Fu_;
82 VectorXs f0_;
83 MatrixXs Lxx_;
84 MatrixXs Lxu_;
85 MatrixXs Luu_;
86 VectorXs lx_;
87 VectorXs lu_;
88};
89
90template <typename _Scalar>
92 typedef _Scalar Scalar;
95 typedef typename MathBase::VectorXs VectorXs;
96 typedef typename MathBase::MatrixXs MatrixXs;
97
98 template <template <typename Scalar> class Model>
99 explicit DifferentialActionDataLQRTpl(Model<Scalar>* const model) : Base(model) {
100 // Setting the linear model and quadratic cost here because they are constant
101 Fx.leftCols(model->get_state()->get_nq()) = model->get_Fq();
102 Fx.rightCols(model->get_state()->get_nv()) = model->get_Fv();
103 Fu = model->get_Fu();
104 Lxx = model->get_Lxx();
105 Luu = model->get_Luu();
106 Lxu = model->get_Lxu();
107 }
108
109 using Base::cost;
110 using Base::Fu;
111 using Base::Fx;
112 using Base::Lu;
113 using Base::Luu;
114 using Base::Lx;
115 using Base::Lxu;
116 using Base::Lxx;
117 using Base::r;
118 using Base::xout;
119};
120
121} // namespace crocoddyl
122
123/* --- Details -------------------------------------------------------------- */
124/* --- Details -------------------------------------------------------------- */
125/* --- Details -------------------------------------------------------------- */
126#include "crocoddyl/core/actions/diff-lqr.hxx"
127#endif // CROCODDYL_CORE_ACTIONS_DIFF_LQR_HPP_
Abstract class for differential action model.
boost::shared_ptr< StateAbstract > state_
Model of the state.
virtual void calc(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
Compute the total cost value for nodes that depends only on the state.
virtual boost::shared_ptr< DifferentialActionDataAbstract > createData()
Create the differential action data.
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.
virtual void print(std::ostream &os) const
Print relevant information of the LQR model.
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.
virtual bool checkData(const boost::shared_ptr< DifferentialActionDataAbstract > &data)
Checks that a specific data belongs to this model.
virtual void calcDiff(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
Compute the derivatives of the cost functions with respect to the state only.
MatrixXs Fx
Jacobian of the dynamics.
MatrixXs Fu
Jacobian of the dynamics.
MatrixXs Luu
Hessian of the cost function.
VectorXs Lx
Jacobian of the cost function.
MatrixXs Lxx
Hessian of the cost function.
VectorXs Lu
Jacobian of the cost function.
MatrixXs Lxu
Hessian of the cost function.
MatrixXs Fx
Jacobian of the dynamics.
MatrixXs Fu
Jacobian of the dynamics.
MatrixXs Luu
Hessian of the cost function.
MatrixXs Lxx
Hessian of the cost function.
MatrixXs Lxu
Hessian of the cost function.