crocoddyl  1.8.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
control.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_RESIDUALS_CONTROL_HPP_
10 #define CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
11 
12 #include "crocoddyl/core/fwd.hpp"
13 #include "crocoddyl/core/residual-base.hpp"
14 
15 namespace crocoddyl {
16 
31 template <typename _Scalar>
32 class ResidualModelControlTpl : public ResidualModelAbstractTpl<_Scalar> {
33  public:
34  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
35 
36  typedef _Scalar Scalar;
37  typedef MathBaseTpl<Scalar> MathBase;
38  typedef ResidualModelAbstractTpl<Scalar> Base;
39  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
40  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
41  typedef typename MathBase::VectorXs VectorXs;
42 
51  ResidualModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state, const VectorXs& uref);
52 
61  ResidualModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state, const std::size_t nu);
62 
70  explicit ResidualModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state);
71  virtual ~ResidualModelControlTpl();
72 
80  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
81  const Eigen::Ref<const VectorXs>& u);
82 
90  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
91  const Eigen::Ref<const VectorXs>& u);
92 
96  virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
97 
101  const VectorXs& get_reference() const;
102 
106  void set_reference(const VectorXs& reference);
107 
113  virtual void print(std::ostream& os) const;
114 
115  protected:
116  using Base::nu_;
117  using Base::state_;
118  using Base::unone_;
119 
120  private:
121  VectorXs uref_;
122 };
123 
124 } // namespace crocoddyl
125 
126 /* --- Details -------------------------------------------------------------- */
127 /* --- Details -------------------------------------------------------------- */
128 /* --- Details -------------------------------------------------------------- */
129 #include "crocoddyl/core/residuals/control.hxx"
130 
131 #endif // CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
void set_reference(const VectorXs &reference)
Modify the reference control vector.
std::size_t nu_
Control dimension.
virtual void calcDiff(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the control residual.
virtual void print(std::ostream &os) const
Print relevant information of the control residual.
ResidualModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &uref)
Initialize the control residual model.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the control residual.
boost::shared_ptr< StateAbstract > state_
State description.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the control residual data.
VectorXs unone_
No control vector.
const VectorXs & get_reference() const
Return the reference control vector.