crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
lqr.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_CORE_ACTIONS_LQR_HPP_
10 #define CROCODDYL_CORE_ACTIONS_LQR_HPP_
11 
12 #include <stdexcept>
13 
14 #include "crocoddyl/core/fwd.hpp"
15 #include "crocoddyl/core/action-base.hpp"
16 #include "crocoddyl/core/states/euclidean.hpp"
17 
18 namespace crocoddyl {
19 
20 template <typename _Scalar>
21 class ActionModelLQRTpl : public ActionModelAbstractTpl<_Scalar> {
22  public:
23  typedef _Scalar Scalar;
29  typedef typename MathBase::VectorXs VectorXs;
30  typedef typename MathBase::MatrixXs MatrixXs;
31 
32  ActionModelLQRTpl(const std::size_t nx, const std::size_t nu, const bool drift_free = true);
33  virtual ~ActionModelLQRTpl();
34 
35  virtual void calc(const boost::shared_ptr<ActionDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
36  const Eigen::Ref<const VectorXs>& u);
37  virtual void calcDiff(const boost::shared_ptr<ActionDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
38  const Eigen::Ref<const VectorXs>& u);
39  virtual boost::shared_ptr<ActionDataAbstract> createData();
40  virtual bool checkData(const boost::shared_ptr<ActionDataAbstract>& data);
41 
42  const MatrixXs& get_Fx() const;
43  const MatrixXs& get_Fu() const;
44  const VectorXs& get_f0() const;
45  const VectorXs& get_lx() const;
46  const VectorXs& get_lu() const;
47  const MatrixXs& get_Lxx() const;
48  const MatrixXs& get_Lxu() const;
49  const MatrixXs& get_Luu() const;
50 
51  void set_Fx(const MatrixXs& Fx);
52  void set_Fu(const MatrixXs& Fu);
53  void set_f0(const VectorXs& f0);
54  void set_lx(const VectorXs& lx);
55  void set_lu(const VectorXs& lu);
56  void set_Lxx(const MatrixXs& Lxx);
57  void set_Lxu(const MatrixXs& Lxu);
58  void set_Luu(const MatrixXs& Luu);
59 
65  virtual void print(std::ostream& os) const;
66 
67  protected:
68  using Base::nu_;
69  using Base::state_;
70 
71  private:
72  bool drift_free_;
73  MatrixXs Fx_;
74  MatrixXs Fu_;
75  VectorXs f0_;
76  MatrixXs Lxx_;
77  MatrixXs Lxu_;
78  MatrixXs Luu_;
79  VectorXs lx_;
80  VectorXs lu_;
81 };
82 
83 template <typename _Scalar>
84 struct ActionDataLQRTpl : public ActionDataAbstractTpl<_Scalar> {
85  typedef _Scalar Scalar;
88 
89  template <template <typename Scalar> class Model>
90  explicit ActionDataLQRTpl(Model<Scalar>* const model) : Base(model) {
91  // Setting the linear model and quadratic cost here because they are constant
92  Fx = model->get_Fx();
93  Fu = model->get_Fu();
94  Lxx = model->get_Lxx();
95  Luu = model->get_Luu();
96  Lxu = model->get_Lxu();
97  }
98 
99  using Base::cost;
100  using Base::Fu;
101  using Base::Fx;
102  using Base::Lu;
103  using Base::Luu;
104  using Base::Lx;
105  using Base::Lxu;
106  using Base::Lxx;
107  using Base::r;
108  using Base::xnext;
109 };
110 
111 } // namespace crocoddyl
112 
113 /* --- Details -------------------------------------------------------------- */
114 /* --- Details -------------------------------------------------------------- */
115 /* --- Details -------------------------------------------------------------- */
116 #include "crocoddyl/core/actions/lqr.hxx"
117 
118 #endif // CROCODDYL_CORE_ACTIONS_LQR_HPP_
Abstract class for action model.
Definition: action-base.hpp:60
virtual boost::shared_ptr< ActionDataAbstract > createData()
Create the action data.
std::size_t nu_
Control dimension.
virtual void print(std::ostream &os) const
Print relevant information of the LQR model.
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.