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| IntegratedActionModelRKTpl (boost::shared_ptr< DifferentialActionModelAbstract > model, boost::shared_ptr< ControlParametrizationModelAbstract > control, const RKType rktype, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true) |
| Initialize the RK integrator. More...
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| IntegratedActionModelRKTpl (boost::shared_ptr< DifferentialActionModelAbstract > model, const RKType rktype, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true) |
| Initialize the RK integrator. More...
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virtual void | calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Integrate the differential action model using RK scheme. More...
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virtual void | calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
| Integrate the total cost value for nodes that depends only on the state using RK scheme. More...
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virtual void | calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the partial derivatives of the RK integrator. More...
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virtual void | calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
| Compute the partial derivatives of the cost. More...
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virtual bool | checkData (const boost::shared_ptr< ActionDataAbstract > &data) |
| Checks that a specific data belongs to this model.
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virtual boost::shared_ptr< ActionDataAbstract > | createData () |
| Create the RK integrator data. More...
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std::size_t | get_ni () const |
| Return the number of nodes of the integrator.
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virtual void | print (std::ostream &os) const |
| Print relevant information of the RK integrator model. More...
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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...
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| IntegratedActionModelAbstractTpl (boost::shared_ptr< DifferentialActionModelAbstract > model, boost::shared_ptr< ControlParametrizationModelAbstract > control, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true) |
| Initialize the integrator. More...
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| IntegratedActionModelAbstractTpl (boost::shared_ptr< DifferentialActionModelAbstract > model, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true) |
| Initialize the integrator. More...
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| DEPRECATED ("The DifferentialActionModel should be set at construction time", void set_differential(boost::shared_ptr< DifferentialActionModelAbstract > model)) |
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const boost::shared_ptr< ControlParametrizationModelAbstract > & | get_control () const |
| Return the control parametrization model associated to this integrated action model.
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const boost::shared_ptr< DifferentialActionModelAbstract > & | get_differential () const |
| Return the differential action model associated to this integrated action model.
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const Scalar | get_dt () const |
| Return the time step used for the integration.
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void | set_dt (const Scalar dt) |
| Set the time step for the integration.
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| ActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0) |
| Initialize the action model. More...
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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...
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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...
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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...
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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...
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bool | get_has_control_limits () const |
| Indicates if there are defined control limits.
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std::size_t | get_nr () const |
| Return the dimension of the cost-residual vector.
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std::size_t | get_nu () const |
| Return the dimension of the control input.
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const boost::shared_ptr< StateAbstract > & | get_state () const |
| Return the state.
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const VectorXs & | get_u_lb () const |
| Return the control lower bound.
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const VectorXs & | get_u_ub () const |
| Return the control upper bound.
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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...
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VectorXs | quasiStatic_x (const boost::shared_ptr< ActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
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void | set_u_lb (const VectorXs &u_lb) |
| Modify the control lower bounds.
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void | set_u_ub (const VectorXs &u_ub) |
| Modify the control upper bounds.
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template<typename _Scalar>
class crocoddyl::IntegratedActionModelRKTpl< _Scalar >
Standard RK integrator.
It applies a standard RK integration schemes to a differential (i.e., continuous time) action model. The available integrators are: RK2, RK3, and RK4.
This standard RK scheme introduces also the possibility to parametrize the control trajectory inside an integration step, for instance using polynomials. This requires introducing some notation to clarify the difference between the control inputs of the differential model and the control inputs to the integrated model. We have decided to use \(\mathbf{w}\) to refer to the control inputs of the differential model and \(\mathbf{u}\) for the control inputs of the integrated action model.
- See also
IntegratedActionModelAbstractTpl
, calc()
, calcDiff()
, createData()
Definition at line 65 of file fwd.hpp.