crocoddyl  1.3.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
control.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2018-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_MULTIBODY_COSTS_CONTROL_HPP_
10 #define CROCODDYL_MULTIBODY_COSTS_CONTROL_HPP_
11 
12 #include "crocoddyl/multibody/fwd.hpp"
13 #include "crocoddyl/multibody/cost-base.hpp"
14 
15 namespace crocoddyl {
16 
17 template <typename _Scalar>
18 class CostModelControlTpl : public CostModelAbstractTpl<_Scalar> {
19  public:
20  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
21 
22  typedef _Scalar Scalar;
30  typedef typename MathBase::VectorXs VectorXs;
31  typedef typename MathBase::MatrixXs MatrixXs;
32 
33  CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
34  const VectorXs& uref);
35  CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation);
36  CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
37  const std::size_t& nu);
38  CostModelControlTpl(boost::shared_ptr<StateMultibody> state, const VectorXs& uref);
39  explicit CostModelControlTpl(boost::shared_ptr<StateMultibody> state);
40  CostModelControlTpl(boost::shared_ptr<StateMultibody> state, const std::size_t& nu);
41  virtual ~CostModelControlTpl();
42 
43  virtual void calc(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
44  const Eigen::Ref<const VectorXs>& u);
45  virtual void calcDiff(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
46  const Eigen::Ref<const VectorXs>& u);
47 
48  const VectorXs& get_uref() const;
49  void set_uref(const VectorXs& uref_in);
50 
51  protected:
52  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
53  virtual void get_referenceImpl(const std::type_info& ti, void* pv);
54 
55  using Base::activation_;
56  using Base::nu_;
57  using Base::state_;
58  using Base::unone_;
59 
60  private:
61  VectorXs uref_;
62 };
63 
64 } // namespace crocoddyl
65 
66 /* --- Details -------------------------------------------------------------- */
67 /* --- Details -------------------------------------------------------------- */
68 /* --- Details -------------------------------------------------------------- */
69 #include "crocoddyl/multibody/costs/control.hxx"
70 
71 #endif // CROCODDYL_MULTIBODY_COSTS_CONTROL_HPP_