9 #ifndef CROCODDYL_CORE_ACTIONS_DIFF_LQR_HPP_ 10 #define CROCODDYL_CORE_ACTIONS_DIFF_LQR_HPP_ 14 #include "crocoddyl/core/fwd.hpp" 15 #include "crocoddyl/core/diff-action-base.hpp" 16 #include "crocoddyl/core/states/euclidean.hpp" 20 template <
typename _Scalar>
23 typedef _Scalar Scalar;
29 typedef typename MathBase::VectorXs VectorXs;
30 typedef typename MathBase::MatrixXs MatrixXs;
35 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
36 const Eigen::Ref<const VectorXs>& u);
37 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
38 const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& u);
39 virtual boost::shared_ptr<DifferentialActionDataAbstract>
createData();
40 virtual bool checkData(
const boost::shared_ptr<DifferentialActionDataAbstract>& data);
42 const MatrixXs& get_Fq()
const;
43 const MatrixXs& get_Fv()
const;
44 const MatrixXs& get_Fu()
const;
45 const VectorXs& get_f0()
const;
46 const VectorXs& get_lx()
const;
47 const VectorXs& get_lu()
const;
48 const MatrixXs& get_Lxx()
const;
49 const MatrixXs& get_Lxu()
const;
50 const MatrixXs& get_Luu()
const;
52 void set_Fq(
const MatrixXs& Fq);
53 void set_Fv(
const MatrixXs& Fv);
54 void set_Fu(
const MatrixXs& Fu);
55 void set_f0(
const VectorXs& f0);
56 void set_lx(
const VectorXs& lx);
57 void set_lu(
const VectorXs& lu);
58 void set_Lxx(
const MatrixXs& Lxx);
59 void set_Lxu(
const MatrixXs& Lxu);
60 void set_Luu(
const MatrixXs& Luu);
84 template <
typename _Scalar>
86 typedef _Scalar Scalar;
89 typedef typename MathBase::VectorXs VectorXs;
90 typedef typename MathBase::MatrixXs MatrixXs;
92 template <
template <
typename Scalar>
class Model>
95 Fx.leftCols(model->get_state()->get_nq()) = model->get_Fq();
96 Fx.rightCols(model->get_state()->get_nv()) = model->get_Fv();
98 Lxx = model->get_Lxx();
99 Luu = model->get_Luu();
100 Lxu = model->get_Lxu();
120 #include "crocoddyl/core/actions/diff-lqr.hxx" 121 #endif // CROCODDYL_CORE_ACTIONS_DIFF_LQR_HPP_ VectorXs u_lb_
Lower control limits.
Abstract class for differential action model.
VectorXs unone_
Neutral state.
std::size_t nr_
Dimension of the cost residual.
virtual bool checkData(const boost::shared_ptr< DifferentialActionDataAbstract > &data)
Checks that a specific data belongs to this model.
std::size_t nu_
Control dimension.
bool has_control_limits_
Indicates whether any of the control limits is finite.
boost::shared_ptr< StateAbstract > state_
Model of the state.
VectorXs u_ub_
Upper control limits.
virtual boost::shared_ptr< DifferentialActionDataAbstract > createData()
Create the differential action data.