9 #ifndef CROCODDYL_CORE_ACTION_BASE_HPP_ 10 #define CROCODDYL_CORE_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/math.hpp" 19 #include "crocoddyl/core/utils/to-string.hpp" 23 template <
typename _Scalar>
26 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
28 typedef _Scalar Scalar;
32 typedef typename MathBase::VectorXs VectorXs;
34 ActionModelAbstractTpl(boost::shared_ptr<StateAbstract> state,
const std::size_t& nu,
const std::size_t& nr = 0);
38 virtual void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
39 const Eigen::Ref<const VectorXs>& u) = 0;
40 virtual void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
41 const Eigen::Ref<const VectorXs>& u) = 0;
42 virtual boost::shared_ptr<ActionDataAbstract> createData();
43 virtual bool checkData(
const boost::shared_ptr<ActionDataAbstract>& data);
45 void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
46 void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
60 virtual void quasiStatic(
const boost::shared_ptr<ActionDataAbstract>& data, Eigen::Ref<VectorXs> u,
61 const Eigen::Ref<const VectorXs>& x,
const std::size_t& maxiter = 100,
62 const Scalar& tol = Scalar(1e-9));
75 VectorXs
quasiStatic_x(
const boost::shared_ptr<ActionDataAbstract>& data,
const VectorXs& x,
76 const std::size_t& maxiter = 100,
const Scalar& tol = Scalar(1e-9));
78 const std::size_t& get_nu()
const;
79 const std::size_t& get_nr()
const;
80 const boost::shared_ptr<StateAbstract>& get_state()
const;
82 const VectorXs& get_u_lb()
const;
83 const VectorXs& get_u_ub()
const;
84 bool const& get_has_control_limits()
const;
86 void set_u_lb(
const VectorXs& u_lb);
87 void set_u_ub(
const VectorXs& u_ub);
92 boost::shared_ptr<StateAbstract>
state_;
98 void update_has_control_limits();
101 template <
typename _Scalar>
103 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
105 typedef _Scalar Scalar;
108 template <
template <
typename Scalar>
class Model>
111 xnext(model->get_state()->get_nx()),
113 Fx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
114 Fu(model->get_state()->get_ndx(), model->get_nu()),
115 Lx(model->get_state()->get_ndx()),
117 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
118 Lxu(model->get_state()->get_ndx(), model->get_nu()),
119 Luu(model->get_nu(), model->get_nu()) {
130 virtual ~ActionDataAbstractTpl() {}
133 typename MathBase::VectorXs xnext;
134 typename MathBase::VectorXs r;
135 typename MathBase::MatrixXs Fx;
136 typename MathBase::MatrixXs Fu;
137 typename MathBase::VectorXs Lx;
138 typename MathBase::VectorXs Lu;
139 typename MathBase::MatrixXs Lxx;
140 typename MathBase::MatrixXs Lxu;
141 typename MathBase::MatrixXs Luu;
149 #include "crocoddyl/core/action-base.hxx" 151 #endif // CROCODDYL_CORE_ACTION_BASE_HPP_
bool has_control_limits_
Indicates whether any of the control limits is finite.
std::size_t nu_
Control dimension.
Abstract class for the state representation.
VectorXs quasiStatic_x(const boost::shared_ptr< ActionDataAbstract > &data, const VectorXs &x, const std::size_t &maxiter=100, const Scalar &tol=Scalar(1e-9))
VectorXs unone_
Neutral state.
VectorXs u_ub_
Upper control limits.
VectorXs u_lb_
Lower control limits.
boost::shared_ptr< StateAbstract > state_
Model of the state.
virtual 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=Scalar(1e-9))
Computes the quasic static commands.
std::size_t nr_
Dimension of the cost residual.