crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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control.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
5// Copyright note valid unless otherwise stated in individual files.
6// All rights reserved.
8
9#ifndef CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
10#define CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
11
12#include "crocoddyl/core/fwd.hpp"
13#include "crocoddyl/core/residual-base.hpp"
14
15namespace crocoddyl {
16
31template <typename _Scalar>
33 public:
34 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
35
36 typedef _Scalar Scalar;
41 typedef typename MathBase::VectorXs VectorXs;
42 typedef typename MathBase::MatrixXs MatrixXs;
43
52 ResidualModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state, const VectorXs& uref);
53
62 ResidualModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state, const std::size_t nu);
63
71 explicit ResidualModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state);
73
81 virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
82 const Eigen::Ref<const VectorXs>& u);
83
88 virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
89
97 virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
98 const Eigen::Ref<const VectorXs>& u);
99
103 virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
104
108 const VectorXs& get_reference() const;
109
113 void set_reference(const VectorXs& reference);
114
120 virtual void print(std::ostream& os) const;
121
122 protected:
123 using Base::nu_;
124 using Base::state_;
125 using Base::unone_;
126
127 private:
128 VectorXs uref_;
129};
130
131} // namespace crocoddyl
132
133/* --- Details -------------------------------------------------------------- */
134/* --- Details -------------------------------------------------------------- */
135/* --- Details -------------------------------------------------------------- */
136#include "crocoddyl/core/residuals/control.hxx"
137
138#endif // CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
Abstract class for residual models.
boost::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
VectorXs unone_
No control vector.
Define a control residual.
Definition: control.hpp:32
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
Compute the residual vector for nodes that depends only on the state.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the control residual data.
ResidualModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &uref)
Initialize the control residual model.
virtual void print(std::ostream &os) const
Print relevant information of the control residual.
ResidualModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state)
Initialize the control residual model.
ResidualModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu)
Initialize the control residual model.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the control residual.
void set_reference(const VectorXs &reference)
Modify the reference control vector.
virtual void calcDiff(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the control residual.
const VectorXs & get_reference() const
Return the reference control vector.