This class computes the numerical differentiation of a cost model. More...

#include <cost.hpp>

Inheritance diagram for CostModelNumDiffTpl< _Scalar >:

Public Types
typedef CostModelAbstractTpl< Scalar >	Base
typedef CostDataAbstractTpl< Scalar >	CostDataAbstract
typedef CostDataNumDiffTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBaseTpl< Scalar >::MatrixXs	MatrixXs
typedef boost::function< void(const VectorXs &, const VectorXs &)>	ReevaluationFunction
typedef MathBaseTpl< Scalar >::VectorXs	VectorXs
Public Types inherited from CostModelAbstractTpl< _Scalar >
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract
typedef ActivationModelQuadTpl< Scalar >	ActivationModelQuad
typedef CostDataAbstractTpl< Scalar >	CostDataAbstract
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef ResidualModelAbstractTpl< Scalar >	ResidualModelAbstract
typedef StateAbstractTpl< Scalar >	StateAbstract
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	CostModelNumDiffTpl (const std::shared_ptr< Base > &model)
	Initialize the numdiff cost model.
virtual	~CostModelNumDiffTpl ()=default
	Initialize the numdiff cost model.
virtual void	calc (const std::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the total cost value for nodes that depends only on the state.
virtual void	calc (const std::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the cost value and its residual vector.
virtual void	calcDiff (const std::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the Jacobian and Hessian of the cost functions with respect to the state only.
virtual void	calcDiff (const std::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the Jacobian and Hessian of cost and its residual vector.
template<typename NewScalar>
CostModelNumDiffTpl< NewScalar >	cast () const
	Cast the cost numdiff model to a different scalar type.
virtual std::shared_ptr< CostDataAbstract >	createData (DataCollectorAbstract *const data) override
	Create a numdiff cost data.
const Scalar	get_disturbance () const
	Return the disturbance constant used by the numerical differentiation routine.
const std::shared_ptr< Base > &	get_model () const
	Return the original cost model.
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 constant used by the numerical differentiation routine.
void	set_reevals (const std::vector< ReevaluationFunction > &reevals)
	Register functions that updates the shared data computed for a system rollout The updated data is used to evaluate of the gradient and Hessian.
Public Member Functions inherited from CostModelAbstractTpl< _Scalar >
	CostModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nr)
	Initialize the cost model.
	CostModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu)
	Initialize the cost model.
	CostModelAbstractTpl (std::shared_ptr< StateAbstract > state, std::shared_ptr< ActivationModelAbstract > activation)
	Initialize the cost model.
	CostModelAbstractTpl (std::shared_ptr< StateAbstract > state, std::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu)
	Initialize the cost model.
	CostModelAbstractTpl (std::shared_ptr< StateAbstract > state, std::shared_ptr< ActivationModelAbstract > activation, std::shared_ptr< ResidualModelAbstract > residual)
	Initialize the cost model.
	CostModelAbstractTpl (std::shared_ptr< StateAbstract > state, std::shared_ptr< ResidualModelAbstract > residual)
	Initialize the cost model.
const std::shared_ptr< ActivationModelAbstract > &	get_activation () const
	Return the activation model.
std::size_t	get_nu () const
	Return the dimension of the control input.
template<class ReferenceType>
ReferenceType	get_reference ()
	Return the cost reference.
const std::shared_ptr< ResidualModelAbstract > &	get_residual () const
	Return the residual model.
const std::shared_ptr< StateAbstract > &	get_state () const
	Return the state.
virtual void	print (std::ostream &os) const
	Print relevant information of the cost model.
template<class ReferenceType>
void	set_reference (ReferenceType ref)
	Modify the cost reference.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
Public Attributes inherited from CostModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::shared_ptr< ActivationModelAbstract >	activation_
	Activation model.
std::size_t	nu_
	Control dimension.
std::shared_ptr< StateAbstract >	state_
	State description.
VectorXs	unone_
	No control vector.
Protected Attributes inherited from CostModelAbstractTpl< _Scalar >
std::shared_ptr< ActivationModelAbstract >	activation_
	Activation model.
std::size_t	nu_
	Control dimension.
std::shared_ptr< ResidualModelAbstract >	residual_
	Residual model.
std::shared_ptr< StateAbstract >	state_
	State description.
VectorXs	unone_
	No control vector.

Additional Inherited Members
Protected Member Functions inherited from CostModelAbstractTpl< _Scalar >
virtual void	get_referenceImpl (const std::type_info &, void *)
	Return the cost reference.
virtual void	set_referenceImpl (const std::type_info &, const void *)
	Modify the cost reference.

Detailed Description

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

This class computes the numerical differentiation of a cost model.

It computes the Jacobian and Hessian of the cost model via numerical differentiation, i.e., $\mathbf{\ell_x}$ , $\mathbf{\ell_u}$ , $\mathbf{\ell_{xx}}$ , $\mathbf{\ell_{uu}}$ , and $\mathbf{\ell_{xu}}$ which denote the Jacobians and Hessians of the cost function, respectively.

See also: CostModelAbstractTpl(), calcDiff()

Definition at line 32 of file cost.hpp.

Member Typedef Documentation

◆ CostDataAbstract

template<typename _Scalar>

typedef CostDataAbstractTpl<Scalar> CostDataAbstract

Definition at line 38 of file cost.hpp.

◆ Base

template<typename _Scalar>

typedef CostModelAbstractTpl<Scalar> Base

Definition at line 39 of file cost.hpp.

◆ Data

template<typename _Scalar>

typedef CostDataNumDiffTpl<Scalar> Data

Definition at line 40 of file cost.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 41 of file cost.hpp.

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 42 of file cost.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 43 of file cost.hpp.

◆ MatrixXs

template<typename _Scalar>

typedef MathBaseTpl<Scalar>::MatrixXs MatrixXs

Definition at line 44 of file cost.hpp.

◆ ReevaluationFunction

template<typename _Scalar>

typedef boost::function<void(const VectorXs&, const VectorXs&)> ReevaluationFunction

Definition at line 46 of file cost.hpp.

Constructor & Destructor Documentation

◆ CostModelNumDiffTpl()

template<typename _Scalar>

CostModelNumDiffTpl ( const std::shared_ptr< Base > & model )

explicit

Initialize the numdiff cost model.

Parameters

model Cost model that we want to apply the numerical differentiation

Member Function Documentation

◆ calc() [1/2]

template<typename _Scalar>

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

overridevirtual

Compute the cost value and its residual vector.

Parameters

[in]	data	Cost data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$
[in]	u	Control input $\mathbf{u}\in\mathbb{R}^{nu}$

Implements CostModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

template<typename _Scalar>

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

overridevirtual

Compute the total cost value for nodes that depends only on the state.

It updates the total cost based on the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Cost data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$

Reimplemented from CostModelAbstractTpl< _Scalar >.

◆ calcDiff() [1/2]

template<typename _Scalar>

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

overridevirtual

Compute the Jacobian and Hessian of cost and its residual vector.

It computes the Jacobian and Hessian of the cost function. It assumes that calc() has been run first.

Parameters

[in]	data	Cost data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$
[in]	u	Control input $\mathbf{u}\in\mathbb{R}^{nu}$

Implements CostModelAbstractTpl< _Scalar >.

◆ calcDiff() [2/2]

template<typename _Scalar>

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

overridevirtual

Compute the Jacobian and Hessian of the cost functions with respect to the state only.

It updates the Jacobian and Hessian of the cost function based on the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Cost data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$

Reimplemented from CostModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar>

virtual std::shared_ptr< CostDataAbstract > createData ( DataCollectorAbstract *const data )

overridevirtual

Create a numdiff cost data.

Parameters

data	Data collector used by the original model

Returns: the numdiff cost data

Reimplemented from CostModelAbstractTpl< _Scalar >.

◆ cast()

template<typename _Scalar>

template<typename NewScalar>

CostModelNumDiffTpl< NewScalar > cast ( ) const

Cast the cost numdiff model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters

NewScalar The new scalar type to cast to.

Returns: CostModelNumDiffTpl<NewScalar> A cost model with the new scalar type.

◆ get_with_gauss_approx()

template<typename _Scalar>

bool get_with_gauss_approx ( )

Identify if the Gauss approximation is going to be used or not.

Returns: true; false

◆ set_reevals()

template<typename _Scalar>

void set_reevals ( const std::vector< ReevaluationFunction > & reevals )

Register functions that updates the shared data computed for a system rollout The updated data is used to evaluate of the gradient and Hessian.

Parameters

reevals are the registered functions.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 37 of file cost.hpp.

◆ activation_

template<typename _Scalar>

std::shared_ptr<ActivationModelAbstract> activation_

protected

Activation model.

Definition at line 276 of file cost-base.hpp.

◆ nu_

template<typename _Scalar>

std::size_t nu_

protected

Control dimension.

Definition at line 278 of file cost-base.hpp.

◆ state_

template<typename _Scalar>

std::shared_ptr<StateAbstract> state_

protected

State description.

Definition at line 275 of file cost-base.hpp.

◆ unone_

template<typename _Scalar>

VectorXs unone_

protected

No control vector.

Definition at line 279 of file cost-base.hpp.

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

/build/source/include/crocoddyl/core/numdiff/cost.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ CostDataAbstract

◆ Base

◆ Data

◆ DataCollectorAbstract

◆ MathBase

◆ VectorXs

◆ MatrixXs

◆ ReevaluationFunction

Constructor & Destructor Documentation

◆ CostModelNumDiffTpl()

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ cast()

◆ get_with_gauss_approx()

◆ set_reevals()

Member Data Documentation

◆ Scalar

◆ activation_

◆ nu_

◆ state_

◆ unone_