crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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poly-one.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_ONE_HPP_
10#define CROCODDYL_CORE_CONTROLS_POLY_ONE_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
36template <typename _Scalar>
38 public:
39 typedef _Scalar Scalar;
44 typedef typename MathBase::VectorXs VectorXs;
45 typedef typename MathBase::MatrixXs MatrixXs;
46
52 explicit ControlParametrizationModelPolyOneTpl(const std::size_t nw);
54
62 virtual void calc(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, const Scalar t,
63 const Eigen::Ref<const VectorXs>& u) const;
64
74 virtual void calcDiff(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, const Scalar t,
75 const Eigen::Ref<const VectorXs>& u) const;
76
82 virtual boost::shared_ptr<ControlParametrizationDataAbstract> createData();
83
92 virtual void params(const boost::shared_ptr<ControlParametrizationDataAbstract>& data, const Scalar t,
93 const Eigen::Ref<const VectorXs>& w) const;
94
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;
105
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;
120
133 virtual void multiplyJacobianTransposeBy(const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
134 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
135 const AssignmentOp = setto) const;
136
137 protected:
138 using Base::nu_;
139 using Base::nw_;
140};
141
142template <typename _Scalar>
144 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
145
146 typedef _Scalar Scalar;
149 typedef typename MathBase::Vector2s Vector2s;
150
151 template <template <typename Scalar> class Model>
152 explicit ControlParametrizationDataPolyOneTpl(Model<Scalar>* const model) : Base(model) {
153 c.setZero();
154 }
155
157
158 Vector2s c;
159};
160
161} // namespace crocoddyl
162
163/* --- Details -------------------------------------------------------------- */
164/* --- Details -------------------------------------------------------------- */
165/* --- Details -------------------------------------------------------------- */
166#include "crocoddyl/core/controls/poly-one.hxx"
167
168#endif // CROCODDYL_CORE_CONTROLS_POLY_ONE_HPP_
Abstract class for the control trajectory parametrization.
std::size_t nu_
Control parameters dimension.
A polynomial function of time of degree one, that is a linear function.
Definition: poly-one.hpp:37
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 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...
ControlParametrizationModelPolyOneTpl(const std::size_t nw)
Initialize the poly-one control parametrization.
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...
Vector2s c
Coefficients of the linear control that depends on time.
Definition: poly-one.hpp:158