9 #ifndef CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_ 10 #define CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_ 13 #include <boost/shared_ptr.hpp> 14 #include <boost/make_shared.hpp> 16 #include "crocoddyl/core/fwd.hpp" 17 #include "crocoddyl/core/state-base.hpp" 18 #include "crocoddyl/core/utils/to-string.hpp" 42 template <
typename _Scalar>
45 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
47 typedef _Scalar Scalar;
51 typedef typename MathBase::VectorXs VectorXs;
52 typedef typename MathBase::MatrixXs MatrixXs;
55 const std::size_t& nr = 0);
58 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
59 const Eigen::Ref<const VectorXs>& u) = 0;
60 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
61 const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& u) = 0;
62 virtual boost::shared_ptr<DifferentialActionDataAbstract> createData();
64 void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
65 void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
67 const std::size_t& get_nu()
const;
68 const std::size_t& get_nr()
const;
69 const boost::shared_ptr<StateAbstract>& get_state()
const;
71 const VectorXs& get_u_lb()
const;
72 const VectorXs& get_u_ub()
const;
73 bool const& get_has_control_limits()
const;
75 void set_u_lb(
const VectorXs& u_lb);
76 void set_u_ub(
const VectorXs& u_ub);
81 boost::shared_ptr<StateAbstract>
state_;
87 void update_has_control_limits();
90 template <
typename _Scalar>
92 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
94 typedef _Scalar Scalar;
96 typedef typename MathBase::VectorXs VectorXs;
97 typedef typename MathBase::MatrixXs MatrixXs;
99 template <
template <
typename Scalar>
class Model>
102 xout(model->get_state()->get_nv()),
103 Fx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
104 Fu(model->get_state()->get_nv(), model->get_nu()),
106 Lx(model->get_state()->get_ndx()),
108 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
109 Lxu(model->get_state()->get_ndx(), model->get_nu()),
110 Luu(model->get_nu(), model->get_nu()) {
121 virtual ~DifferentialActionDataAbstractTpl() {}
140 #include "crocoddyl/core/diff-action-base.hxx" 142 #endif // CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_ VectorXs u_lb_
Lower control limits.
This class DifferentialActionModelAbstract represents a first-order ODE, i.e. where and represents ...
VectorXs unone_
Neutral state.
std::size_t nr_
Dimension of the cost residual.
This class abstract state representations.
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.