Standard RK integrator. More...
#include <crocoddyl/core/integrator/rk.hpp>
Public Member Functions | |
IntegratedActionModelRKTpl (boost::shared_ptr< DifferentialActionModelAbstract > model, boost::shared_ptr< ControlParametrizationModelAbstract > control, const RKType rktype, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true) | |
Initialize the RK integrator. More... | |
IntegratedActionModelRKTpl (boost::shared_ptr< DifferentialActionModelAbstract > model, const RKType rktype, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true) | |
Initialize the RK integrator. More... | |
virtual void | calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Integrate the total cost value for nodes that depends only on the state using RK scheme. More... | |
virtual void | calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Integrate the differential action model using RK scheme. More... | |
virtual void | calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the partial derivatives of the cost. More... | |
virtual void | calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Compute the partial derivatives of the RK integrator. More... | |
virtual bool | checkData (const boost::shared_ptr< ActionDataAbstract > &data) |
Checks that a specific data belongs to this model. More... | |
virtual boost::shared_ptr< ActionDataAbstract > | createData () |
Create the RK integrator data. More... | |
std::size_t | get_ni () const |
Return the number of nodes of the integrator. | |
virtual void | print (std::ostream &os) const |
Print relevant information of the RK integrator model. More... | |
virtual void | quasiStatic (const boost::shared_ptr< ActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
Computes the quasic static commands. More... | |
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IntegratedActionModelAbstractTpl (boost::shared_ptr< DifferentialActionModelAbstract > model, boost::shared_ptr< ControlParametrizationModelAbstract > control, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true) | |
Initialize the integrator. More... | |
IntegratedActionModelAbstractTpl (boost::shared_ptr< DifferentialActionModelAbstract > model, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true) | |
Initialize the integrator. More... | |
virtual boost::shared_ptr< ActionDataAbstract > | createData () |
Create the integrator data. More... | |
DEPRECATED ("The DifferentialActionModel should be set at construction time", void set_differential(boost::shared_ptr< DifferentialActionModelAbstract > model)) | |
const boost::shared_ptr< ControlParametrizationModelAbstract > & | get_control () const |
Return the control parametrization model associated to this integrated action model. | |
const boost::shared_ptr< DifferentialActionModelAbstract > & | get_differential () const |
Return the differential action model associated to this integrated action model. | |
const Scalar | get_dt () const |
Return the time step used for the integration. | |
void | set_dt (const Scalar dt) |
Set the time step for the integration. | |
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ActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0) | |
Initialize the action model. More... | |
virtual void | calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the total cost value for nodes that depends only on the state. More... | |
virtual void | calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0 |
Compute the next state and cost value. More... | |
virtual void | calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the derivatives of the cost functions with respect to the state only. More... | |
virtual void | calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0 |
Compute the derivatives of the dynamics and cost functions. More... | |
virtual bool | checkData (const boost::shared_ptr< ActionDataAbstract > &data) |
Checks that a specific data belongs to this model. More... | |
virtual boost::shared_ptr< ActionDataAbstract > | createData () |
Create the action data. More... | |
bool | get_has_control_limits () const |
Indicates if there are defined control limits. | |
std::size_t | get_nr () const |
Return the dimension of the cost-residual vector. | |
std::size_t | get_nu () const |
Return the dimension of the control input. | |
const boost::shared_ptr< StateAbstract > & | get_state () const |
Return the state. | |
const VectorXs & | get_u_lb () const |
Return the control lower bound. | |
const VectorXs & | get_u_ub () const |
Return the control upper bound. | |
virtual void | print (std::ostream &os) const |
Print relevant information of the action model. More... | |
virtual void | quasiStatic (const boost::shared_ptr< ActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
Computes the quasic static commands. More... | |
VectorXs | quasiStatic_x (const boost::shared_ptr< ActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
void | set_u_lb (const VectorXs &u_lb) |
Modify the control lower bounds. | |
void | set_u_ub (const VectorXs &u_ub) |
Modify the control upper bounds. | |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Attributes | |
boost::shared_ptr< ControlParametrizationModelAbstract > | control_ |
Model of the control parametrization. More... | |
boost::shared_ptr< DifferentialActionModelAbstract > | differential_ |
< Control parametrization More... | |
std::size_t | nu_ |
< Differential action model More... | |
boost::shared_ptr< StateAbstract > | state_ |
< Dimension of the control More... | |
Scalar | time_step2_ |
< Model of the state More... | |
Scalar | time_step_ |
< Square of the time step used for integration More... | |
bool | with_cost_residual_ |
< Time step used for integration More... | |
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boost::shared_ptr< ControlParametrizationModelAbstract > | control_ |
Model of the control parametrization. More... | |
boost::shared_ptr< DifferentialActionModelAbstract > | differential_ |
Differential action model that is integrated. More... | |
bool | has_control_limits_ |
Indicates whether any of the control limits is finite. More... | |
std::size_t | nr_ |
< Indicates whether any of the control limits are active More... | |
std::size_t | nu_ |
< Dimension of the cost residual More... | |
boost::shared_ptr< StateAbstract > | state_ |
< Dimension of the control More... | |
Scalar | time_step2_ |
Square of the time step used for integration. More... | |
Scalar | time_step_ |
Time step used for integration. More... | |
VectorXs | u_lb_ |
< Model of the state More... | |
VectorXs | u_ub_ |
< Lower control limits More... | |
VectorXs | unone_ |
< Upper control limits More... | |
bool | with_cost_residual_ |
Flag indicating whether a cost residual is used. More... | |
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bool | has_control_limits_ |
Indicates whether any of the control limits is finite. More... | |
std::size_t | nr_ |
Dimension of the cost residual. More... | |
std::size_t | nu_ |
Control dimension. More... | |
boost::shared_ptr< StateAbstract > | state_ |
Model of the state. More... | |
VectorXs | u_lb_ |
Lower control limits. More... | |
VectorXs | u_ub_ |
Upper control limits. More... | |
VectorXs | unone_ |
Neutral state. More... | |
Additional Inherited Members | |
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void | init () |
< Neutral state | |
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void | update_has_control_limits () |
Update the status of the control limits (i.e. if there are defined limits) | |
Standard RK integrator.
It applies a standard RK integration schemes to a differential (i.e., continuous time) action model. The available integrators are: RK2, RK3, and RK4.
This standard RK scheme introduces also the possibility to parametrize the control trajectory inside an integration step, for instance using polynomials. This requires introducing some notation to clarify the difference between the control inputs of the differential model and the control inputs to the integrated model. We have decided to use \(\mathbf{w}\) to refer to the control inputs of the differential model and \(\mathbf{u}\) for the control inputs of the integrated action model.
typedef MathBaseTpl<Scalar> MathBase |
typedef IntegratedActionModelAbstractTpl<Scalar> Base |
typedef IntegratedActionDataRKTpl<Scalar> Data |
typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract |
typedef DifferentialActionModelAbstractTpl<Scalar> DifferentialActionModelAbstract |
IntegratedActionModelRKTpl | ( | boost::shared_ptr< DifferentialActionModelAbstract > | model, |
boost::shared_ptr< ControlParametrizationModelAbstract > | control, | ||
const RKType | rktype, | ||
const Scalar | time_step = Scalar(1e-3) , |
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const bool | with_cost_residual = true |
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) |
Initialize the RK integrator.
[in] | model | Differential action model |
[in] | control | Control parametrization |
[in] | rktype | Type of RK integrator |
[in] | time_step | Step time (default 1e-3) |
[in] | with_cost_residual | Compute cost residual (default true) |
IntegratedActionModelRKTpl | ( | boost::shared_ptr< DifferentialActionModelAbstract > | model, |
const RKType | rktype, | ||
const Scalar | time_step = Scalar(1e-3) , |
||
const bool | with_cost_residual = true |
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) |
Initialize the RK integrator.
This initialization uses ControlParametrizationPolyZeroTpl
for the control parametrization.
[in] | model | Differential action model |
[in] | rktype | Type of RK integrator |
[in] | time_step | Step time (default 1e-3) |
[in] | with_cost_residual | Compute cost residual (default true) |
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virtual |
Integrate the differential action model using RK scheme.
[in] | data | RK integrator data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Implements ActionModelAbstractTpl< _Scalar >.
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virtual |
Integrate the total cost value for nodes that depends only on the state using RK scheme.
It computes the total cost and defines the next state as the current one. This function is used in the terminal nodes of an optimal control problem.
[in] | data | RK integrator data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
Reimplemented from ActionModelAbstractTpl< _Scalar >.
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virtual |
Compute the partial derivatives of the RK integrator.
[in] | data | RK integrator data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Implements ActionModelAbstractTpl< _Scalar >.
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virtual |
Compute the partial derivatives of the cost.
It updates the derivatives of the cost function with respect to the state only. This function is used in the terminal nodes of an optimal control problem.
[in] | data | RK integrator data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
Reimplemented from ActionModelAbstractTpl< _Scalar >.
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virtual |
Create the RK integrator data.
Reimplemented from IntegratedActionModelAbstractTpl< _Scalar >.
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Checks that a specific data belongs to this model.
Reimplemented from ActionModelAbstractTpl< _Scalar >.
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Computes the quasic static commands.
The quasic static commands are the ones produced for a the reference posture as an equilibrium point, i.e. for \(\mathbf{f^q_x}\delta\mathbf{q}+\mathbf{f_u}\delta\mathbf{u}=\mathbf{0}\)
[in] | data | RK integrator data |
[out] | u | Quasic static commands |
[in] | x | State point (velocity has to be zero) |
[in] | maxiter | Maximum allowed number of iterations |
[in] | tol | Tolerance |
Reimplemented from ActionModelAbstractTpl< _Scalar >.
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virtual |
Print relevant information of the RK integrator model.
[out] | os | Output stream object |
Reimplemented from ActionModelAbstractTpl< _Scalar >.
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protected |
Model of the control parametrization.
Definition at line 118 of file integ-action-base.hpp.
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< Control parametrization
Definition at line 117 of file integ-action-base.hpp.
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< Differential action model
Definition at line 109 of file action-base.hpp.
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< Dimension of the control
Definition at line 110 of file action-base.hpp.
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< Model of the state
Definition at line 121 of file integ-action-base.hpp.
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< Square of the time step used for integration
Definition at line 120 of file integ-action-base.hpp.
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< Time step used for integration
Definition at line 122 of file integ-action-base.hpp.