crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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ActionModelUnicycleTpl< _Scalar > Class Template Reference
Inheritance diagram for ActionModelUnicycleTpl< _Scalar >:
Collaboration diagram for ActionModelUnicycleTpl< _Scalar >:

Public Types

typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef ActionModelAbstractTpl< Scalar > Base
 
typedef ActionDataUnicycleTpl< Scalar > Data
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Vector2s Vector2s
 
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

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...
 
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)
 Compute the derivatives of the cost functions with respect to the state only. 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. More...
 
virtual boost::shared_ptr< ActionDataAbstractcreateData ()
 Create the action data. More...
 
const Vector2s & get_cost_weights () const
 
Scalar get_dt () const
 
virtual void print (std::ostream &os) const
 Print relevant information of the unicycle model. More...
 
void set_cost_weights (const Vector2s &weights)
 
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...
 
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...
 
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...
 
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...
 
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...
 
virtual bool checkData (const boost::shared_ptr< ActionDataAbstract > &data)
 Checks that a specific data belongs to this model. More...
 
virtual boost::shared_ptr< ActionDataAbstractcreateData ()
 Create the action data. 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.
 
virtual void print (std::ostream &os) const
 Print relevant information of the action 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...
 
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 nu_
 Control dimension. More...
 
boost::shared_ptr< StateAbstractstate_
 < Control dimension More...
 
- Protected Attributes inherited from ActionModelAbstractTpl< _Scalar >
bool has_control_limits_
 Indicates whether any of the control limits is finite. More...
 
std::size_t nr_
 Dimension of the cost residual. More...
 
std::size_t nu_
 Control dimension. More...
 
boost::shared_ptr< StateAbstractstate_
 Model of the state. More...
 
VectorXs u_lb_
 Lower control limits. More...
 
VectorXs u_ub_
 Upper control limits. More...
 
VectorXs unone_
 Neutral state. More...
 

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::ActionModelUnicycleTpl< _Scalar >

Definition at line 20 of file unicycle.hpp.

Member Typedef Documentation

◆ ActionDataAbstract

Definition at line 25 of file unicycle.hpp.

◆ Base

typedef ActionModelAbstractTpl<Scalar> Base

Definition at line 26 of file unicycle.hpp.

◆ Data

typedef ActionDataUnicycleTpl<Scalar> Data

Definition at line 27 of file unicycle.hpp.

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 28 of file unicycle.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 29 of file unicycle.hpp.

◆ Vector2s

typedef MathBase::Vector2s Vector2s

Definition at line 30 of file unicycle.hpp.

Member Function Documentation

◆ calc() [1/2]

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 \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActionModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

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

Compute the total cost value for nodes that depends only on the state.

It updates the total cost and the next state is not computed as it is not expected to change. This function is used in the terminal nodes of an optimal control problem.

Parameters
[in]dataAction data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ calcDiff() [1/2]

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 \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActionModelAbstractTpl< _Scalar >.

◆ calcDiff() [2/2]

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

Compute the derivatives of the cost functions with respect to the state only.

It updates the derivatives of the cost function with respect to the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters
[in]dataAction data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ createData()

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

Create the action data.

Returns
the action data

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ checkData()

virtual bool checkData ( const boost::shared_ptr< ActionDataAbstract > &  data)
virtual

Checks that a specific data belongs to this model.

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ print()

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

Print relevant information of the unicycle model.

Parameters
[out]osOutput stream object

Reimplemented from ActionModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 24 of file unicycle.hpp.

◆ nu_

std::size_t nu_
protected

Control dimension.

Definition at line 221 of file action-base.hpp.

◆ state_

boost::shared_ptr<StateAbstract> state_
protected

< Control dimension

Definition at line 223 of file action-base.hpp.


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