crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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poly-two-rk.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_TWO_RK_HPP_
10#define CROCODDYL_CORE_CONTROLS_POLY_TWO_RK_HPP_
11
12#include "crocoddyl/core/fwd.hpp"
13#include "crocoddyl/core/control-base.hpp"
14#include "crocoddyl/core/integrator/rk.hpp"
15#include "crocoddyl/core/utils/exception.hpp"
16
17namespace crocoddyl {
18
43template <typename _Scalar>
45 public:
46 typedef _Scalar Scalar;
51 typedef typename MathBase::VectorXs VectorXs;
52 typedef typename MathBase::MatrixXs MatrixXs;
53
60 explicit ControlParametrizationModelPolyTwoRKTpl(const std::size_t nw, const RKType rktype);
62
70 virtual void calc(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, const Scalar t,
71 const Eigen::Ref<const VectorXs>& u) const;
72
82 virtual void calcDiff(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, const Scalar t,
83 const Eigen::Ref<const VectorXs>& u) const;
84
90 virtual boost::shared_ptr<ControlParametrizationDataAbstract> createData();
91
100 virtual void params(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, const Scalar t,
101 const Eigen::Ref<const VectorXs>& w) const;
102
111 virtual void convertBounds(const Eigen::Ref<const VectorXs>& w_lb, const Eigen::Ref<const VectorXs>& w_ub,
112 Eigen::Ref<VectorXs> u_lb, Eigen::Ref<VectorXs> u_ub) const;
113
125 virtual void multiplyByJacobian(const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
126 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
127 const AssignmentOp = setto) const;
128
141 virtual void multiplyJacobianTransposeBy(const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
142 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
143 const AssignmentOp = setto) const;
144
145 protected:
146 using Base::nu_;
147 using Base::nw_;
148
149 private:
150 RKType rktype_;
151};
152
153template <typename _Scalar>
155 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
156
157 typedef _Scalar Scalar;
160 typedef typename MathBase::Vector3s Vector3s;
161
162 template <template <typename Scalar> class Model>
163 explicit ControlParametrizationDataPolyTwoRKTpl(Model<Scalar>* const model) : Base(model), tmp_t2(0.) {
164 c.setZero();
165 }
166
168
169 Vector3s c;
170 Scalar tmp_t2;
171};
172
173} // namespace crocoddyl
174
175/* --- Details -------------------------------------------------------------- */
176/* --- Details -------------------------------------------------------------- */
177/* --- Details -------------------------------------------------------------- */
178#include "crocoddyl/core/controls/poly-two-rk.hxx"
179
180#endif // CROCODDYL_CORE_CONTROLS_POLY_TWO_RK_HPP_
Abstract class for the control trajectory parametrization.
std::size_t nu_
Control parameters dimension.
A polynomial function of time of degree two, that is a quadratic function.
Definition: poly-two-rk.hpp:44
ControlParametrizationModelPolyTwoRKTpl(const std::size_t nw, const RKType rktype)
Initialize the poly-two RK control parametrization.
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.
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 u such that the control at the specified time t is equal to the...
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...
Scalar tmp_t2
Temporary variable to store the square of the time.
Vector3s c
Polynomial coefficients of the second-order control model that depends on time.