9 #ifndef CROCODDYL_CORE_ACTION_BASE_HPP_ 10 #define CROCODDYL_CORE_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/math.hpp" 19 #include "crocoddyl/core/utils/to-string.hpp" 23 template <
typename _Scalar>
26 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
28 typedef _Scalar Scalar;
32 typedef typename MathBase::VectorXs VectorXs;
34 ActionModelAbstractTpl(boost::shared_ptr<StateAbstract> state,
const std::size_t& nu,
const std::size_t& nr = 0);
38 virtual void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
39 const Eigen::Ref<const VectorXs>& u) = 0;
40 virtual void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
41 const Eigen::Ref<const VectorXs>& u) = 0;
42 virtual boost::shared_ptr<ActionDataAbstract> createData();
43 virtual bool checkData(
const boost::shared_ptr<ActionDataAbstract>& data);
45 void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
46 void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
48 void quasiStatic(
const boost::shared_ptr<ActionDataAbstract>& data, Eigen::Ref<VectorXs> u,
49 const Eigen::Ref<const VectorXs>& x,
const std::size_t& maxiter = 100,
const Scalar& tol = 1e-9);
50 VectorXs quasiStatic_x(
const boost::shared_ptr<ActionDataAbstract>& data,
const VectorXs& x,
51 const std::size_t& maxiter = 100,
const Scalar& tol = 1e-9);
53 const std::size_t& get_nu()
const;
54 const std::size_t& get_nr()
const;
55 const boost::shared_ptr<StateAbstract>& get_state()
const;
57 const VectorXs& get_u_lb()
const;
58 const VectorXs& get_u_ub()
const;
59 bool const& get_has_control_limits()
const;
61 void set_u_lb(
const VectorXs& u_lb);
62 void set_u_ub(
const VectorXs& u_ub);
67 boost::shared_ptr<StateAbstract>
state_;
73 void update_has_control_limits();
76 template <
typename _Scalar>
78 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
80 typedef _Scalar Scalar;
83 template <
template <
typename Scalar>
class Model>
86 xnext(model->get_state()->get_nx()),
88 Fx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
89 Fu(model->get_state()->get_ndx(), model->get_nu()),
90 Lx(model->get_state()->get_ndx()),
92 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
93 Lxu(model->get_state()->get_ndx(), model->get_nu()),
94 Luu(model->get_nu(), model->get_nu()) {
105 virtual ~ActionDataAbstractTpl() {}
108 typename MathBase::VectorXs xnext;
109 typename MathBase::VectorXs r;
110 typename MathBase::MatrixXs Fx;
111 typename MathBase::MatrixXs Fu;
112 typename MathBase::VectorXs Lx;
113 typename MathBase::VectorXs Lu;
114 typename MathBase::MatrixXs Lxx;
115 typename MathBase::MatrixXs Lxu;
116 typename MathBase::MatrixXs Luu;
124 #include "crocoddyl/core/action-base.hxx" 126 #endif // CROCODDYL_CORE_ACTION_BASE_HPP_
bool has_control_limits_
Indicates whether any of the control limits is finite.
std::size_t nu_
Control dimension.
Abstract class for the state representation.
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.
std::size_t nr_
Dimension of the cost residual.