9 #ifndef CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_ 10 #define CROCODDYL_CORE_DIFF_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/to-string.hpp" 46 template <
typename _Scalar>
49 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
51 typedef _Scalar Scalar;
55 typedef typename MathBase::VectorXs VectorXs;
56 typedef typename MathBase::MatrixXs MatrixXs;
66 const std::size_t& nr = 0);
76 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
77 const Eigen::Ref<const VectorXs>& u) = 0;
90 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
91 const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& u) = 0;
98 virtual boost::shared_ptr<DifferentialActionDataAbstract>
createData();
103 virtual bool checkData(
const boost::shared_ptr<DifferentialActionDataAbstract>& data);
111 void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
119 void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
124 const std::size_t&
get_nu()
const;
129 const std::size_t&
get_nr()
const;
134 const boost::shared_ptr<StateAbstract>&
get_state()
const;
154 void set_u_lb(
const VectorXs& u_lb);
159 void set_u_ub(
const VectorXs& u_ub);
170 void update_has_control_limits();
173 template <
typename _Scalar>
175 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
177 typedef _Scalar Scalar;
179 typedef typename MathBase::VectorXs VectorXs;
180 typedef typename MathBase::MatrixXs MatrixXs;
182 template <
template <
typename Scalar>
class Model>
185 xout(model->get_state()->get_nv()),
186 Fx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
187 Fu(model->get_state()->get_nv(), model->get_nu()),
189 Lx(model->get_state()->get_ndx()),
191 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
192 Lxu(model->get_state()->get_ndx(), model->get_nu()),
193 Luu(model->get_nu(), model->get_nu()) {
204 virtual ~DifferentialActionDataAbstractTpl() {}
223 #include "crocoddyl/core/diff-action-base.hxx" 225 #endif // CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_ bool const & get_has_control_limits() const
Indicates if there are defined control limits.
const boost::shared_ptr< StateAbstract > & get_state() const
Return the state.
const VectorXs & get_u_ub() const
Return the control upper bound.
const std::size_t & get_nr() const
Return the dimension of the cost-residual vector.
const std::size_t & get_nu() const
Return the dimension of the control input.
VectorXs u_lb_
Lower control limits.
Abstract class for differential action model.
virtual void calcDiff(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
Compute the derivatives of the dynamics and cost functions.
VectorXs unone_
Neutral state.
virtual bool checkData(const boost::shared_ptr< DifferentialActionDataAbstract > &data)
Checks that a specific data belongs to this model.
std::size_t nr_
Dimension of the cost residual.
Abstract class for the state representation.
void set_u_lb(const VectorXs &u_lb)
Modify the control lower bounds.
virtual void calc(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
Compute the system acceleration and cost value.
std::size_t nu_
Control dimension.
bool has_control_limits_
Indicates whether any of the control limits is finite.
virtual boost::shared_ptr< DifferentialActionDataAbstract > createData()
Create the differential action data.
boost::shared_ptr< StateAbstract > state_
Model of the state.
DifferentialActionModelAbstractTpl(boost::shared_ptr< StateAbstract > state, const std::size_t &nu, const std::size_t &nr=0)
Initialize the differential action model.
void set_u_ub(const VectorXs &u_ub)
Modify the control upper bounds.
VectorXs u_ub_
Upper control limits.
const VectorXs & get_u_lb() const
Return the control lower bound.