cost.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
// Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_NUMDIFF_COST_HPP_
#define CROCODDYL_CORE_NUMDIFF_COST_HPP_

#include <boost/function.hpp>

#include "crocoddyl/core/cost-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"

namespace crocoddyl {

template <typename _Scalar>
class CostModelNumDiffTpl : public CostModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(CostModelBase, CostModelNumDiffTpl)

 typedef _Scalar Scalar;
 typedef CostDataAbstractTpl<Scalar> CostDataAbstract;
 typedef CostModelAbstractTpl<Scalar> Base;
 typedef CostDataNumDiffTpl<Scalar> Data;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
 typedef typename MathBaseTpl<Scalar>::MatrixXs MatrixXs;
 typedef boost::function<void(const VectorXs&, const VectorXs&)>
 ReevaluationFunction;

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

 virtual ~CostModelNumDiffTpl() = default;

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

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

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

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

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

 template <typename NewScalar>
 CostModelNumDiffTpl<NewScalar> cast() const;

 const std::shared_ptr<Base>& get_model() const;

 const Scalar get_disturbance() const;

 void set_disturbance(const Scalar disturbance);

 bool get_with_gauss_approx();

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

 protected:
 using Base::activation_;
 using Base::nu_;
 using Base::state_;
 using Base::unone_;

 private:
 void assertStableStateFD(const Eigen::Ref<const VectorXs>& /*x*/);

 std::shared_ptr<Base> model_;
 Scalar e_jac_;
 std::vector<ReevaluationFunction>
 reevals_;
};

template <typename _Scalar>
struct CostDataNumDiffTpl : public CostDataAbstractTpl<_Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef CostDataAbstractTpl<Scalar> Base;
 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
 typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;

 template <template <typename Scalar> class Model>
 explicit CostDataNumDiffTpl(Model<Scalar>* const model,
 DataCollectorAbstract* const shared_data)
 : Base(model, shared_data),
 dx(model->get_state()->get_ndx()),
 xp(model->get_state()->get_nx()),
 du(model->get_nu()),
 up(model->get_nu()) {
 dx.setZero();
 xp.setZero();
 du.setZero();
 up.setZero();

 const std::size_t ndx = model->get_model()->get_state()->get_ndx();
 const std::size_t nu = model->get_model()->get_nu();
 data_0 = model->get_model()->createData(shared_data);
 for (std::size_t i = 0; i < ndx; ++i) {
 data_x.push_back(model->get_model()->createData(shared_data));
 }
 for (std::size_t i = 0; i < nu; ++i) {
 data_u.push_back(model->get_model()->createData(shared_data));
 }
 }

 virtual ~CostDataNumDiffTpl() = default;

 using Base::activation;
 using Base::cost;
 using Base::Lu;
 using Base::Luu;
 using Base::Lx;
 using Base::Lxu;
 using Base::Lxx;
 using Base::residual;
 using Base::shared;

 Scalar x_norm;
 Scalar
 xh_jac;
 Scalar
 uh_jac;
 VectorXs dx;
 VectorXs xp;
 VectorXs du;
 VectorXs up;
 std::shared_ptr<Base> data_0;
 std::vector<std::shared_ptr<Base> >
 data_x;
 std::vector<std::shared_ptr<Base> >
 data_u;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/numdiff/cost.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::CostModelNumDiffTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::CostDataNumDiffTpl)

#endif // CROCODDYL_CORE_NUMDIFF_COST_HPP_