crocoddyl  1.4.0
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ActionModelAbstractTpl< _Scalar > Class Template Referenceabstract
Inheritance diagram for ActionModelAbstractTpl< _Scalar >:

Public Types

typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 ActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nu, const std::size_t &nr=0)
 
virtual void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 
void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 
void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual bool checkData (const boost::shared_ptr< ActionDataAbstract > &data)
 
virtual boost::shared_ptr< ActionDataAbstractcreateData ()
 
bool const & get_has_control_limits () const
 
const std::size_t & get_nr () const
 
const std::size_t & get_nu () const
 
const boost::shared_ptr< StateAbstract > & get_state () const
 
const VectorXs & get_u_lb () const
 
const VectorXs & get_u_ub () const
 
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=1e-9)
 
VectorXs quasiStatic_x (const boost::shared_ptr< ActionDataAbstract > &data, const VectorXs &x, const std::size_t &maxiter=100, const Scalar &tol=1e-9)
 
void set_u_lb (const VectorXs &u_lb)
 
void set_u_ub (const VectorXs &u_ub)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Member Functions

void update_has_control_limits ()
 

Protected Attributes

bool has_control_limits_
 Indicates whether any of the control limits is finite.
 
std::size_t nr_
 Dimension of the cost residual.
 
std::size_t nu_
 Control dimension.
 
boost::shared_ptr< StateAbstractstate_
 Model of the state.
 
VectorXs u_lb_
 Lower control limits.
 
VectorXs u_ub_
 Upper control limits.
 
VectorXs unone_
 Neutral state.
 

Detailed Description

template<typename _Scalar>
class crocoddyl::ActionModelAbstractTpl< _Scalar >

Definition at line 24 of file action-base.hpp.


The documentation for this class was generated from the following file: