crocoddyl  1.5.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
IntegratedActionModelRK4Tpl< _Scalar > Class Template Reference
Inheritance diagram for IntegratedActionModelRK4Tpl< _Scalar >:
Collaboration diagram for IntegratedActionModelRK4Tpl< _Scalar >:

Public Types

typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef ActionModelAbstractTpl< Scalar > Base
 
typedef IntegratedActionDataRK4Tpl< Scalar > Data
 
typedef DifferentialActionModelAbstractTpl< Scalar > DifferentialActionModelAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActionModelAbstractTpl< _Scalar >
typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 IntegratedActionModelRK4Tpl (boost::shared_ptr< DifferentialActionModelAbstract > model, const Scalar &time_step=Scalar(1e-3), const bool &with_cost_residual=true)
 
virtual void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
virtual void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 
virtual bool checkData (const boost::shared_ptr< ActionDataAbstract > &data)
 
virtual boost::shared_ptr< ActionDataAbstractcreateData ()
 
const boost::shared_ptr< DifferentialActionModelAbstract > & get_differential () const
 
const Scalar & get_dt () const
 
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. More...
 
void set_differential (boost::shared_ptr< DifferentialActionModelAbstract > model)
 
void set_dt (const Scalar &dt)
 
- Public Member Functions inherited from ActionModelAbstractTpl< _Scalar >
 ActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nu, const std::size_t &nr=0)
 
void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
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
 
VectorXs quasiStatic_x (const boost::shared_ptr< ActionDataAbstract > &data, const VectorXs &x, const std::size_t &maxiter=100, const Scalar &tol=Scalar(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
 
- Public Attributes inherited from ActionModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Additional Inherited Members

- Protected Member Functions inherited from ActionModelAbstractTpl< _Scalar >
void update_has_control_limits ()
 
- Protected Attributes inherited from ActionModelAbstractTpl< _Scalar >
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::IntegratedActionModelRK4Tpl< _Scalar >

Definition at line 104 of file fwd.hpp.

Member Function Documentation

◆ quasiStatic()

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) 
)
virtual

Computes the quasic static commands.

The quasic static commands are the ones produced for a the reference posture as an equilibrium point, i.e. for \(\mathbf{f(q,v=0,u)=0}\)

Parameters
[in]dataDifferential action data
[out]uQuasic static commands
[in]xState point (velocity has to be zero)
[in]maxiterMaximum allowed number of iterations
[in]tolTolerance

Reimplemented from ActionModelAbstractTpl< _Scalar >.


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