TermQuadTracking.hpp

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/**********************************************************************************************************************
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

#include "TermBase.hpp"

namespace ct {
namespace optcon {

template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL = double, typename SCALAR = SCALAR_EVAL>
class TermQuadTracking : public TermBase<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

    typedef Eigen::Matrix<SCALAR_EVAL, STATE_DIM, STATE_DIM> state_matrix_t;
    typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM> control_matrix_t;
    typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, STATE_DIM> control_state_matrix_t;
    typedef Eigen::Matrix<SCALAR_EVAL, STATE_DIM, STATE_DIM> state_matrix_double_t;
    typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, CONTROL_DIM> control_matrix_double_t;
    typedef Eigen::Matrix<SCALAR_EVAL, CONTROL_DIM, STATE_DIM> control_state_matrix_double_t;

    TermQuadTracking();

    TermQuadTracking(const state_matrix_t& Q,
        const control_matrix_t& R,
        const core::InterpolationType& stateSplineType,
        const core::InterpolationType& controlSplineType,
        const bool trackControlTrajectory = false);

    TermQuadTracking(const TermQuadTracking& arg);

    virtual ~TermQuadTracking();

    TermQuadTracking<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>* clone() const override;

    void setWeights(const state_matrix_double_t& Q, const control_matrix_double_t& R);

    void setStateAndControlReference(const core::StateTrajectory<STATE_DIM>& xTraj,
        const core::ControlTrajectory<CONTROL_DIM>& uTraj);

    virtual SCALAR evaluate(const Eigen::Matrix<SCALAR, STATE_DIM, 1>& x,
        const Eigen::Matrix<SCALAR, CONTROL_DIM, 1>& u,
        const SCALAR& t) override;

    core::StateVector<STATE_DIM, SCALAR_EVAL> stateDerivative(const core::StateVector<STATE_DIM, SCALAR_EVAL>& x,
        const core::ControlVector<CONTROL_DIM, SCALAR_EVAL>& u,
        const SCALAR_EVAL& t) override;

    state_matrix_t stateSecondDerivative(const core::StateVector<STATE_DIM, SCALAR_EVAL>& x,
        const core::ControlVector<CONTROL_DIM, SCALAR_EVAL>& u,
        const SCALAR_EVAL& t) override;

    core::ControlVector<CONTROL_DIM, SCALAR_EVAL> controlDerivative(const core::StateVector<STATE_DIM, SCALAR_EVAL>& x,
        const core::ControlVector<CONTROL_DIM, SCALAR_EVAL>& u,
        const SCALAR_EVAL& t) override;

    control_matrix_t controlSecondDerivative(const core::StateVector<STATE_DIM, SCALAR_EVAL>& x,
        const core::ControlVector<CONTROL_DIM, SCALAR_EVAL>& u,
        const SCALAR_EVAL& t) override;

    control_state_matrix_t stateControlDerivative(const core::StateVector<STATE_DIM, SCALAR_EVAL>& x,
        const core::ControlVector<CONTROL_DIM, SCALAR_EVAL>& u,
        const SCALAR_EVAL& t) override;

    virtual void loadConfigFile(const std::string& filename,
        const std::string& termName,
        bool verbose = false) override;

protected:
    template <typename SC>
    SC evalLocal(const Eigen::Matrix<SC, STATE_DIM, 1>& x, const Eigen::Matrix<SC, CONTROL_DIM, 1>& u, const SC& t);

    state_matrix_t Q_;
    control_matrix_t R_;

    // the reference trajectories to be tracked
    ct::core::StateTrajectory<STATE_DIM, SCALAR_EVAL> x_traj_ref_;
    ct::core::ControlTrajectory<CONTROL_DIM, SCALAR_EVAL> u_traj_ref_;

    // Option whether the control trajectory deviation shall be penalized or not
    bool trackControlTrajectory_;
};


template <size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR_EVAL, typename SCALAR>
template <typename SC>
SC TermQuadTracking<STATE_DIM, CONTROL_DIM, SCALAR_EVAL, SCALAR>::evalLocal(const Eigen::Matrix<SC, STATE_DIM, 1>& x,
    const Eigen::Matrix<SC, CONTROL_DIM, 1>& u,
    const SC& t)
{
    Eigen::Matrix<SC, STATE_DIM, 1> xDiff = x - x_traj_ref_.eval((SCALAR_EVAL)t).template cast<SC>();

    Eigen::Matrix<SC, CONTROL_DIM, 1> uDiff;

    if (trackControlTrajectory_)
        uDiff = u - u_traj_ref_.eval((SCALAR_EVAL)t).template cast<SC>();
    else
        uDiff = u;

    return (xDiff.transpose() * Q_.template cast<SC>() * xDiff + uDiff.transpose() * R_.template cast<SC>() * uDiff)(
        0, 0);
}

}  // namespace optcon
}  // namespace ct