9#ifndef CROCODDYL_CORE_ACTION_BASE_HPP_
10#define CROCODDYL_CORE_ACTION_BASE_HPP_
13#include <boost/shared_ptr.hpp>
14#include <boost/make_shared.hpp>
16#include "crocoddyl/core/fwd.hpp"
17#include "crocoddyl/core/state-base.hpp"
18#include "crocoddyl/core/utils/math.hpp"
58template <
typename _Scalar>
61 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
63 typedef _Scalar Scalar;
67 typedef typename MathBase::VectorXs VectorXs;
86 virtual void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
87 const Eigen::Ref<const VectorXs>& u) = 0;
98 virtual void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
111 virtual void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
112 const Eigen::Ref<const VectorXs>& u) = 0;
123 virtual void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
135 virtual bool checkData(
const boost::shared_ptr<ActionDataAbstract>& data);
149 virtual void quasiStatic(
const boost::shared_ptr<ActionDataAbstract>& data, Eigen::Ref<VectorXs> u,
150 const Eigen::Ref<const VectorXs>& x,
const std::size_t maxiter = 100,
151 const Scalar tol = Scalar(1e-9));
164 VectorXs
quasiStatic_x(
const boost::shared_ptr<ActionDataAbstract>& data,
const VectorXs& x,
165 const std::size_t maxiter = 100,
const Scalar tol = Scalar(1e-9));
180 const boost::shared_ptr<StateAbstract>&
get_state()
const;
210 template <
class Scalar>
218 virtual void print(std::ostream& os)
const;
235template <
typename _Scalar>
237 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
239 typedef _Scalar Scalar;
241 typedef typename MathBase::VectorXs VectorXs;
242 typedef typename MathBase::MatrixXs MatrixXs;
244 template <
template <
typename Scalar>
class Model>
247 xnext(model->get_state()->get_nx()),
248 Fx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
249 Fu(model->get_state()->get_ndx(), model->get_nu()),
251 Lx(model->get_state()->get_ndx()),
253 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
254 Lxu(model->get_state()->get_ndx(), model->get_nu()),
255 Luu(model->get_nu(), model->get_nu()) {
285#include "crocoddyl/core/action-base.hxx"
Abstract class for action model.
VectorXs u_lb_
Lower control limits.
VectorXs u_ub_
Upper control limits.
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.
void set_u_ub(const VectorXs &u_ub)
Modify the control upper bounds.
bool has_control_limits_
Indicates whether any of the control limits is finite.
bool get_has_control_limits() const
Indicates if there are defined control limits.
VectorXs quasiStatic_x(const boost::shared_ptr< ActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))
const boost::shared_ptr< StateAbstract > & get_state() const
Return the state.
void update_has_control_limits()
Update the status of the control limits (i.e. if there are defined limits)
ActionModelAbstractTpl(boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0)
Initialize the action model.
boost::shared_ptr< StateAbstract > state_
Model of the state.
std::size_t nu_
Control dimension.
VectorXs unone_
Neutral state.
virtual boost::shared_ptr< ActionDataAbstract > createData()
Create the action data.
std::size_t nr_
Dimension of the cost residual.
virtual bool checkData(const boost::shared_ptr< ActionDataAbstract > &data)
Checks that a specific data belongs to this model.
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.
std::size_t get_nr() const
Return the dimension of the cost-residual vector.
const VectorXs & get_u_lb() const
Return the control lower bound.
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.
void set_u_lb(const VectorXs &u_lb)
Modify the control lower bounds.
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.
friend std::ostream & operator<<(std::ostream &os, const ActionModelAbstractTpl< Scalar > &model)
Print information on the action model.
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.
std::size_t get_nu() const
Return the dimension of the control input.
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.
Abstract class for the state representation.
VectorXs xnext
evolution state
MatrixXs Fx
Jacobian of the dynamics.
MatrixXs Fu
Jacobian of the dynamics.
MatrixXs Luu
Hessian of the cost function.
VectorXs Lx
Jacobian of the cost function.
MatrixXs Lxx
Hessian of the cost function.
VectorXs Lu
Jacobian of the cost function.
MatrixXs Lxu
Hessian of the cost function.