crocoddyl 1.9.0
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ActionModelNumDiffTpl< _Scalar > Class Template Reference

This class computes the numerical differentiation of an action model. More...

#include <crocoddyl/core/numdiff/action.hpp>

Inheritance diagram for ActionModelNumDiffTpl< _Scalar >:
Collaboration diagram for ActionModelNumDiffTpl< _Scalar >:

Public Types

typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef ActionModelAbstractTpl< Scalar > Base
 
typedef ActionDataNumDiffTpl< Scalar > Data
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBaseTpl< Scalar >::MatrixXs MatrixXs
 
typedef MathBaseTpl< Scalar >::VectorXs VectorXs
 
- Public Types inherited from ActionModelAbstractTpl< _Scalar >
typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 ActionModelNumDiffTpl (boost::shared_ptr< Base > model, bool with_gauss_approx=false)
 Initialize the numdiff action model. More...
 
virtual void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the next state and cost value. More...
 
virtual void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the derivatives of the dynamics and cost functions. More...
 
virtual boost::shared_ptr< ActionDataAbstractcreateData ()
 Create the action data. More...
 
const Scalar get_disturbance () const
 Return the disturbance used in the numerical differentiation routine.
 
const boost::shared_ptr< Base > & get_model () const
 Return the acton model that we use to numerical differentiate.
 
bool get_with_gauss_approx ()
 Identify if the Gauss approximation is going to be used or not.
 
void set_disturbance (const Scalar disturbance)
 Modify the disturbance used in the numerical differentiation routine.
 
- Public Member Functions inherited from ActionModelAbstractTpl< _Scalar >
 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< ActionDataAbstractcreateData ()
 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
 
- Public Attributes inherited from ActionModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Attributes

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 More...
 
std::size_t nu_
 < Dimension of the cost residual More...
 
boost::shared_ptr< StateAbstractstate_
 < Control dimension More...
 
VectorXs u_lb_
 < Model of the state More...
 
VectorXs u_ub_
 < Lower control limits More...
 
VectorXs unone_
 < Upper control limits More...
 
- Protected Attributes inherited from ActionModelAbstractTpl< _Scalar >
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< StateAbstractstate_
 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

- Protected Member Functions inherited from ActionModelAbstractTpl< _Scalar >
void update_has_control_limits ()
 Update the status of the control limits (i.e. if there are defined limits)
 

Detailed Description

template<typename _Scalar>
class crocoddyl::ActionModelNumDiffTpl< _Scalar >

This class computes the numerical differentiation of an action model.

It computes Jacobian of the cost, its residual and dynamics via numerical differentiation. It considers that the action model owns a cost residual and the cost is the square of this residual, i.e., \(\ell(\mathbf{x},\mathbf{u})=\frac{1}{2}\|\mathbf{r}(\mathbf{x},\mathbf{u})\|^2\), where \(\mathbf{r}(\mathbf{x},\mathbf{u})\) is the residual vector. The Hessian is computed only through the Gauss-Newton approximation, i.e.,

\begin{eqnarray*} \mathbf{\ell}_\mathbf{xx} &=& \mathbf{R_x}^T\mathbf{R_x} \\ \mathbf{\ell}_\mathbf{uu} &=& \mathbf{R_u}^T\mathbf{R_u} \\ \mathbf{\ell}_\mathbf{xu} &=& \mathbf{R_x}^T\mathbf{R_u} \end{eqnarray*}

where the Jacobians of the cost residuals are denoted by \(\mathbf{R_x}\) and \(\mathbf{R_u}\). Note that this approximation ignores the tensor products (e.g., \(\mathbf{R_{xx}}\mathbf{r}\)).

Finally, in the case that the cost does not have a residual, we set the Hessian to zero, i.e., \(\mathbf{L_{xx}} = \mathbf{L_{xu}} = \mathbf{L_{uu}} = \mathbf{0}\).

See also
ActionModelAbstractTpl(), calcDiff()

Definition at line 42 of file action.hpp.

Member Typedef Documentation

◆ ActionDataAbstract

Definition at line 47 of file action.hpp.

◆ Base

typedef ActionModelAbstractTpl<Scalar> Base

Definition at line 48 of file action.hpp.

◆ Data

typedef ActionDataNumDiffTpl<Scalar> Data

Definition at line 49 of file action.hpp.

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 50 of file action.hpp.

◆ VectorXs

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 51 of file action.hpp.

◆ MatrixXs

typedef MathBaseTpl<Scalar>::MatrixXs MatrixXs

Definition at line 52 of file action.hpp.

Constructor & Destructor Documentation

◆ ActionModelNumDiffTpl()

ActionModelNumDiffTpl ( boost::shared_ptr< Base model,
bool  with_gauss_approx = false 
)
explicit

Initialize the numdiff action model.

Parameters
[in]modelAction model that we want to apply the numerical differentiation
[in]with_gauss_approxTrue if we want to use the Gauss approximation for computing the Hessians

Member Function Documentation

◆ calc() [1/2]

virtual void calc ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

Compute the next state and cost value.

Parameters
[in]dataAction data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

◆ calc() [2/2]

virtual void calc ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x 
)
virtual

◆ calcDiff() [1/2]

virtual void calcDiff ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

Compute the derivatives of the dynamics and cost functions.

It computes the partial derivatives of the dynamical system and the cost function. It assumes that calc() has been run first. This function builds a linear-quadratic approximation of the action model (i.e. dynamical system and cost function).

Parameters
[in]dataAction data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

◆ calcDiff() [2/2]

virtual void calcDiff ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x 
)
virtual

◆ createData()

virtual boost::shared_ptr< ActionDataAbstract > createData ( )
virtual

Create the action data.

Returns
the action data

Reimplemented from ActionModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 46 of file action.hpp.

◆ has_control_limits_

bool has_control_limits_
protected

Indicates whether any of the control limits is finite.

Definition at line 227 of file action-base.hpp.

◆ nr_

std::size_t nr_
protected

< Indicates whether any of the control limits

Definition at line 222 of file action-base.hpp.

◆ nu_

std::size_t nu_
protected

< Dimension of the cost residual

Definition at line 221 of file action-base.hpp.

◆ state_

boost::shared_ptr<StateAbstract> state_
protected

< Control dimension

Definition at line 223 of file action-base.hpp.

◆ u_lb_

VectorXs u_lb_
protected

< Model of the state

Definition at line 225 of file action-base.hpp.

◆ u_ub_

VectorXs u_ub_
protected

< Lower control limits

Definition at line 226 of file action-base.hpp.

◆ unone_

VectorXs unone_
protected

< Upper control limits

Definition at line 224 of file action-base.hpp.


The documentation for this class was generated from the following files: