TermQuadMult-impl.hpp

Go to the documentation of this file.

/**********************************************************************************************************************
This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
Licensed under the BSD-2 license (see LICENSE file in main directory)
**********************************************************************************************************************/

#pragma once

namespace ct {
namespace optcon {


template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::TermQuadMult(const state_matrix_t& Q,
    const control_matrix_t& R)
    : Q_(Q), R_(R)
{
    x_ref_.setZero();  // default values
    u_ref_.setZero();
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::TermQuadMult()
{
    Q_.setIdentity();  // default values
    R_.setIdentity();
    x_ref_.setZero();
    u_ref_.setZero();
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::TermQuadMult(const state_matrix_t& Q,
    const control_matrix_t& R,
    const core::StateVector<STATE_DIM, SCALAR_EVAL>& x_ref,
    core::ControlVector<CONTROL_DIM, SCALAR_EVAL>& u_ref)
    : Q_(Q), R_(R), x_ref_(x_ref), u_ref_(u_ref)
{
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::TermQuadMult(const TermQuadMult& arg)
    : TermBase<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>(arg),
      Q_(arg.Q_),
      R_(arg.R_),
      x_ref_(arg.x_ref_),
      u_ref_(arg.u_ref_)
{
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>*
TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::clone() const
{
    return new TermQuadMult(*this);
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::~TermQuadMult()
{
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
void TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::setWeights(const state_matrix_double_t& Q,
    const control_matrix_double_t& R)
{
    Q_ = Q.template cast<SCALAR_EVAL>();
    R_ = R.template cast<SCALAR_EVAL>();
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
void TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::setStateAndControlReference(
    const core::StateVector<STATE_DIM>& x_ref,
    core::ControlVector<CONTROL_DIM>& u_ref)
{
    x_ref_ = x_ref.template cast<SCALAR_EVAL>();
    ;
    u_ref_ = u_ref.template cast<SCALAR_EVAL>();
    ;
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
SCALAR TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::evaluate(const Eigen::Matrix<SCALAR, STATE_DIM, 1>& x,
    const Eigen::Matrix<SCALAR, CONTROL_DIM, 1>& u,
    const SCALAR& t)
{
    return evalLocal<SCALAR>(x, u, t);
}

#ifdef CPPADCG
template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
ct::core::ADCGScalar TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::evaluateCppadCg(
    const core::StateVector<STATE_DIM, ct::core::ADCGScalar>& x,
    const core::ControlVector<CONTROL_DIM, ct::core::ADCGScalar>& u,
    ct::core::ADCGScalar t)
{
    return evalLocal<ct::core::ADCGScalar>(x, u, t);
}
#endif

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
core::StateVector<STATE_DIM, SCALAR_EVAL> TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::stateDerivative(
    const core::StateVector<STATE_DIM, SCALAR_EVAL>& x,
    const core::ControlVector<CONTROL_DIM, SCALAR_EVAL>& u,
    const SCALAR_EVAL& t)
{
    core::StateVector<STATE_DIM, SCALAR_EVAL> xDiff = (x - x_ref_);
    core::ControlVector<CONTROL_DIM, SCALAR_EVAL> uDiff = (u - u_ref_);

    SCALAR_EVAL r = (uDiff.transpose() * R_ * uDiff)(0, 0);

    return (xDiff.transpose() * Q_.transpose() + xDiff.transpose() * Q_) * r;
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
typename TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::state_matrix_t
TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::stateSecondDerivative(
    const core::StateVector<STATE_DIM, SCALAR_EVAL>& x,
    const core::ControlVector<CONTROL_DIM, SCALAR_EVAL>& u,
    const SCALAR_EVAL& t)
{
    core::ControlVector<CONTROL_DIM, SCALAR_EVAL> uDiff = (u - u_ref_);

    SCALAR_EVAL r = (uDiff.transpose() * R_ * uDiff)(0, 0);

    return (Q_ + Q_.transpose()) * r;
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
core::ControlVector<CONTROL_DIM, SCALAR_EVAL>
TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::controlDerivative(
    const core::StateVector<STATE_DIM, SCALAR_EVAL>& x,
    const core::ControlVector<CONTROL_DIM, SCALAR_EVAL>& u,
    const SCALAR_EVAL& t)
{
    core::StateVector<STATE_DIM, SCALAR_EVAL> xDiff = (x - x_ref_);
    core::ControlVector<CONTROL_DIM, SCALAR_EVAL> uDiff = (u - u_ref_);

    SCALAR_EVAL q = (xDiff.transpose() * Q_ * xDiff)(0, 0);

    return (uDiff.transpose() * R_.transpose() + uDiff.transpose() * R_) * q;
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
typename TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::control_matrix_t
TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::controlSecondDerivative(
    const core::StateVector<STATE_DIM, SCALAR_EVAL>& x,
    const core::ControlVector<CONTROL_DIM, SCALAR_EVAL>& u,
    const SCALAR_EVAL& t)
{
    core::StateVector<STATE_DIM, SCALAR_EVAL> xDiff = (x - x_ref_);

    SCALAR_EVAL q = (xDiff.transpose() * Q_ * xDiff)(0, 0);

    return (R_ + R_.transpose()) * q;
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
typename TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::control_state_matrix_t
TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::stateControlDerivative(
    const core::StateVector<STATE_DIM, SCALAR_EVAL>& x,
    const core::ControlVector<CONTROL_DIM, SCALAR_EVAL>& u,
    const SCALAR_EVAL& t)
{
    core::StateVector<STATE_DIM, SCALAR_EVAL> xDiff = (x - x_ref_);
    core::ControlVector<CONTROL_DIM, SCALAR_EVAL> uDiff = (u - u_ref_);

    return (uDiff.transpose() * R_.transpose() + uDiff.transpose() * R_).transpose() *
           (xDiff.transpose() * Q_.transpose() + xDiff.transpose() * Q_);
}

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
void TermQuadMult<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::loadConfigFile(const std::string& filename,
    const std::string& termName,
    bool verbose)
{
    loadMatrixCF(filename, "Q", Q_, termName);
    loadMatrixCF(filename, "R", R_, termName);
    loadMatrixCF(filename, "x_des", x_ref_, termName);
    loadMatrixCF(filename, "u_des", u_ref_, termName);
    if (verbose)
    {
        std::cout << "Read Q as Q = \n" << Q_ << std::endl;
        std::cout << "Read R as R = \n" << R_ << std::endl;
        std::cout << "Read x_ref as x_ref = \n" << x_ref_.transpose() << std::endl;
        std::cout << "Read u_ref as u_ref = \n" << u_ref_.transpose() << std::endl;
    }
}

}  // namespace optcon
}  // namespace ct