crocoddyl  1.8.1
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IntegratedActionModelRK4Tpl< _Scalar > Class Template Reference
Inheritance diagram for IntegratedActionModelRK4Tpl< _Scalar >:
Collaboration diagram for IntegratedActionModelRK4Tpl< _Scalar >:

Public Types

typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef ActionModelAbstractTpl< Scalar > Base
 
typedef IntegratedActionDataRK4Tpl< Scalar > Data
 
typedef DifferentialActionModelAbstractTpl< Scalar > DifferentialActionModelAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActionModelAbstractTpl< _Scalar >
typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 IntegratedActionModelRK4Tpl (boost::shared_ptr< DifferentialActionModelAbstract > model, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true)
 
virtual void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the next state and cost value. More...
 
virtual void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the derivatives of the dynamics and cost functions. More...
 
virtual bool checkData (const boost::shared_ptr< ActionDataAbstract > &data)
 Checks that a specific data belongs to this model.
 
virtual boost::shared_ptr< ActionDataAbstractcreateData ()
 Create the action data. More...
 
const boost::shared_ptr< DifferentialActionModelAbstract > & get_differential () const
 
const Scalar get_dt () const
 
virtual void print (std::ostream &os) const
 Print relevant information of the Runge-Kutta 4 integrator model. More...
 
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...
 
void set_differential (boost::shared_ptr< DifferentialActionModelAbstract > model)
 
void set_dt (const Scalar dt)
 
- Public Member Functions inherited from ActionModelAbstractTpl< _Scalar >
 ActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0)
 Initialize the action model. More...
 
void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 Compute the next state and cost value. More...
 
void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 Compute the derivatives of the dynamics and cost functions. More...
 
bool get_has_control_limits () const
 Indicates if there are defined control limits.
 
std::size_t get_nr () const
 Return the dimension of the cost-residual vector.
 
std::size_t get_nu () const
 Return the dimension of the control input.
 
const boost::shared_ptr< StateAbstract > & get_state () const
 Return the state.
 
const VectorXs & get_u_lb () const
 Return the control lower bound.
 
const VectorXs & get_u_ub () const
 Return the control upper bound.
 
VectorXs quasiStatic_x (const boost::shared_ptr< ActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))
 
void set_u_lb (const VectorXs &u_lb)
 Modify the control lower bounds.
 
void set_u_ub (const VectorXs &u_ub)
 Modify the control upper bounds.
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from ActionModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Attributes

std::size_t nr_
 Dimension of the cost residual.
 
std::size_t nu_
 < Dimension of the cost residual
 
boost::shared_ptr< StateAbstractstate_
 < Control dimension
 
VectorXs unone_
 < Model of the state
 
- Protected Attributes inherited from ActionModelAbstractTpl< _Scalar >
bool has_control_limits_
 Indicates whether any of the control limits is finite.
 
std::size_t nr_
 Dimension of the cost residual.
 
std::size_t nu_
 Control dimension.
 
boost::shared_ptr< StateAbstractstate_
 Model of the state.
 
VectorXs u_lb_
 Lower control limits.
 
VectorXs u_ub_
 Upper control limits.
 
VectorXs unone_
 Neutral state.
 

Additional Inherited Members

- Protected Member Functions inherited from ActionModelAbstractTpl< _Scalar >
void update_has_control_limits ()
 Update the status of the control limits (i.e. if there are defined limits)
 

Detailed Description

template<typename _Scalar>
class crocoddyl::IntegratedActionModelRK4Tpl< _Scalar >

Definition at line 19 of file rk4.hpp.

Member Function Documentation

◆ calc()

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

Compute the next state and cost value.

Parameters
[in]dataAction data
[in]xState point
[in]uControl input

Implements ActionModelAbstractTpl< _Scalar >.

◆ calcDiff()

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

Compute the derivatives of the dynamics and cost functions.

It computes the partial derivatives of the dynamical system and the cost function. It assumes that calc() has been run first. This function builds a linear-quadratic approximation of the action model (i.e. dynamical system and cost function).

Parameters
[in]dataAction data
[in]xState point
[in]uControl input

Implements ActionModelAbstractTpl< _Scalar >.

◆ createData()

virtual boost::shared_ptr<ActionDataAbstract> createData ( )
virtual

Create the action data.

Returns
the action data

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ quasiStatic()

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) 
)
virtual

Computes the quasic static commands.

The quasic static commands are the ones produced for a the reference posture as an equilibrium point, i.e. for \(\mathbf{f^q_x}\delta\mathbf{q}+\mathbf{f_u}\delta\mathbf{u}=\mathbf{0}\)

Parameters
[in]dataAction data
[out]uQuasic static commands
[in]xState point (velocity has to be zero)
[in]maxiterMaximum allowed number of iterations
[in]tolTolerance

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ print()

virtual void print ( std::ostream &  os) const
virtual

Print relevant information of the Runge-Kutta 4 integrator model.

Parameters
[out]osOutput stream object

Reimplemented from ActionModelAbstractTpl< _Scalar >.


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