crocoddyl  1.6.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
euler.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_CORE_INTEGRATOR_EULER_HPP_
10 #define CROCODDYL_CORE_INTEGRATOR_EULER_HPP_
11 
12 #include "crocoddyl/core/fwd.hpp"
13 #include "crocoddyl/core/action-base.hpp"
14 #include "crocoddyl/core/diff-action-base.hpp"
15 
16 namespace crocoddyl {
17 
18 template <typename _Scalar>
19 class IntegratedActionModelEulerTpl : public ActionModelAbstractTpl<_Scalar> {
20  public:
21  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
22 
23  typedef _Scalar Scalar;
24  typedef MathBaseTpl<Scalar> MathBase;
25  typedef ActionModelAbstractTpl<Scalar> Base;
26  typedef IntegratedActionDataEulerTpl<Scalar> Data;
27  typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract;
28  typedef DifferentialActionModelAbstractTpl<Scalar> DifferentialActionModelAbstract;
29  typedef typename MathBase::VectorXs VectorXs;
30  typedef typename MathBase::MatrixXs MatrixXs;
31 
32  IntegratedActionModelEulerTpl(boost::shared_ptr<DifferentialActionModelAbstract> model,
33  const Scalar& time_step = Scalar(1e-3), const bool& with_cost_residual = true);
34  virtual ~IntegratedActionModelEulerTpl();
35 
36  virtual void calc(const boost::shared_ptr<ActionDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
37  const Eigen::Ref<const VectorXs>& u);
38  virtual void calcDiff(const boost::shared_ptr<ActionDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
39  const Eigen::Ref<const VectorXs>& u);
40  virtual boost::shared_ptr<ActionDataAbstract> createData();
41  virtual bool checkData(const boost::shared_ptr<ActionDataAbstract>& data);
42 
43  virtual void quasiStatic(const boost::shared_ptr<ActionDataAbstract>& data, Eigen::Ref<VectorXs> u,
44  const Eigen::Ref<const VectorXs>& x, const std::size_t& maxiter = 100,
45  const Scalar& tol = Scalar(1e-9));
46 
47  const boost::shared_ptr<DifferentialActionModelAbstract>& get_differential() const;
48  const Scalar& get_dt() const;
49 
50  void set_dt(const Scalar& dt);
51  void set_differential(boost::shared_ptr<DifferentialActionModelAbstract> model);
52 
53  protected:
55  using Base::nr_;
56  using Base::nu_;
57  using Base::state_;
58  using Base::u_lb_;
59  using Base::u_ub_;
60  using Base::unone_;
61 
62  private:
63  boost::shared_ptr<DifferentialActionModelAbstract> differential_;
64  Scalar time_step_;
65  Scalar time_step2_;
66  bool with_cost_residual_;
67  bool enable_integration_;
68 };
69 
70 template <typename _Scalar>
71 struct IntegratedActionDataEulerTpl : public ActionDataAbstractTpl<_Scalar> {
72  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
73 
74  typedef _Scalar Scalar;
75  typedef MathBaseTpl<Scalar> MathBase;
76  typedef ActionDataAbstractTpl<Scalar> Base;
77  typedef typename MathBase::VectorXs VectorXs;
78  typedef typename MathBase::MatrixXs MatrixXs;
79 
80  template <template <typename Scalar> class Model>
81  explicit IntegratedActionDataEulerTpl(Model<Scalar>* const model) : Base(model) {
82  differential = model->get_differential()->createData();
83  const std::size_t& ndx = model->get_state()->get_ndx();
84  dx = VectorXs::Zero(ndx);
85  }
86  virtual ~IntegratedActionDataEulerTpl() {}
87 
88  boost::shared_ptr<DifferentialActionDataAbstractTpl<Scalar> > differential;
89  VectorXs dx;
90 
91  using Base::cost;
92  using Base::Fu;
93  using Base::Fx;
94  using Base::Lu;
95  using Base::Luu;
96  using Base::Lx;
97  using Base::Lxu;
98  using Base::Lxx;
99  using Base::r;
100  using Base::xnext;
101 };
102 
103 } // namespace crocoddyl
104 
105 /* --- Details -------------------------------------------------------------- */
106 /* --- Details -------------------------------------------------------------- */
107 /* --- Details -------------------------------------------------------------- */
108 #include "crocoddyl/core/integrator/euler.hxx"
109 
110 #endif // CROCODDYL_CORE_INTEGRATOR_EULER_HPP_
bool has_control_limits_
Indicates whether any of the control limits is finite.
std::size_t nu_
Control dimension.
virtual boost::shared_ptr< ActionDataAbstract > createData()
Create the action data.
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 bool checkData(const boost::shared_ptr< ActionDataAbstract > &data)
Checks that a specific data belongs to this model.
std::size_t nr_
Dimension of the cost residual.