crocoddyl  1.4.0
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 #include "crocoddyl/core/utils/deprecate.hpp"
15 
16 namespace crocoddyl {
17 
18 template <typename _Scalar>
19 class CostModelControlTpl : public CostModelAbstractTpl<_Scalar> {
20  public:
21  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
22 
23  typedef _Scalar Scalar;
31  typedef typename MathBase::VectorXs VectorXs;
32  typedef typename MathBase::MatrixXs MatrixXs;
33 
34  CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
35  const VectorXs& uref);
36  CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation);
37  CostModelControlTpl(boost::shared_ptr<StateMultibody> state, boost::shared_ptr<ActivationModelAbstract> activation,
38  const std::size_t& nu);
39  CostModelControlTpl(boost::shared_ptr<StateMultibody> state, const VectorXs& uref);
40  explicit CostModelControlTpl(boost::shared_ptr<StateMultibody> state);
41  CostModelControlTpl(boost::shared_ptr<StateMultibody> state, const std::size_t& nu);
42  virtual ~CostModelControlTpl();
43 
44  virtual void calc(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
45  const Eigen::Ref<const VectorXs>& u);
46  virtual void calcDiff(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
47  const Eigen::Ref<const VectorXs>& u);
48 
49  DEPRECATED("Use set_reference<MathbTpl<Scalare>::VectorXs>()", void set_uref(const VectorXs& uref_in));
50  DEPRECATED("Use get_reference<MathbTpl<Scalare>::VectorXs>()", const VectorXs& get_uref() const);
51 
52  protected:
53  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
54  virtual void get_referenceImpl(const std::type_info& ti, void* pv) const;
55 
56  using Base::activation_;
57  using Base::nu_;
58  using Base::state_;
59  using Base::unone_;
60 
61  private:
62  VectorXs uref_;
63 };
64 
65 } // namespace crocoddyl
66 
67 /* --- Details -------------------------------------------------------------- */
68 /* --- Details -------------------------------------------------------------- */
69 /* --- Details -------------------------------------------------------------- */
70 #include "crocoddyl/multibody/costs/control.hxx"
71 
72 #endif // CROCODDYL_MULTIBODY_COSTS_CONTROL_HPP_