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" 19 #include "crocoddyl/core/utils/math.hpp" 47 template <
typename _Scalar>
50 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
52 typedef _Scalar Scalar;
56 typedef typename MathBase::VectorXs VectorXs;
57 typedef typename MathBase::MatrixXs MatrixXs;
67 const std::size_t& nr = 0);
77 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
78 const Eigen::Ref<const VectorXs>& u) = 0;
91 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
92 const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& u) = 0;
99 virtual boost::shared_ptr<DifferentialActionDataAbstract>
createData();
104 virtual bool checkData(
const boost::shared_ptr<DifferentialActionDataAbstract>& data);
112 void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
120 void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
134 virtual void quasiStatic(
const boost::shared_ptr<DifferentialActionDataAbstract>& data, Eigen::Ref<VectorXs> u,
135 const Eigen::Ref<const VectorXs>& x,
const std::size_t& maxiter = 100,
136 const Scalar& tol = Scalar(1e-9));
149 VectorXs
quasiStatic_x(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const VectorXs& x,
150 const std::size_t& maxiter = 100,
const Scalar& tol = Scalar(1e-9));
155 const std::size_t&
get_nu()
const;
160 const std::size_t&
get_nr()
const;
165 const boost::shared_ptr<StateAbstract>&
get_state()
const;
185 void set_u_lb(
const VectorXs& u_lb);
190 void set_u_ub(
const VectorXs& u_ub);
201 void update_has_control_limits();
204 template <
typename _Scalar>
206 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
208 typedef _Scalar Scalar;
210 typedef typename MathBase::VectorXs VectorXs;
211 typedef typename MathBase::MatrixXs MatrixXs;
213 template <
template <
typename Scalar>
class Model>
216 xout(model->get_state()->get_nv()),
217 Fx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
218 Fu(model->get_state()->get_nv(), model->get_nu()),
220 Lx(model->get_state()->get_ndx()),
222 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
223 Lxu(model->get_state()->get_ndx(), model->get_nu()),
224 Luu(model->get_nu(), model->get_nu()) {
235 virtual ~DifferentialActionDataAbstractTpl() {}
254 #include "crocoddyl/core/diff-action-base.hxx" 256 #endif // CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_ bool const & get_has_control_limits() const
Indicates if there are defined control limits.
const boost::shared_ptr< StateAbstract > & get_state() const
Return the state.
const VectorXs & get_u_ub() const
Return the control upper bound.
const std::size_t & get_nr() const
Return the dimension of the cost-residual vector.
const std::size_t & get_nu() const
Return the dimension of the control input.
VectorXs u_lb_
Lower control limits.
Abstract class for differential action model.
virtual void calcDiff(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
Compute the derivatives of the dynamics and cost functions.
VectorXs unone_
Neutral state.
virtual bool checkData(const boost::shared_ptr< DifferentialActionDataAbstract > &data)
Checks that a specific data belongs to this model.
std::size_t nr_
Dimension of the cost residual.
Abstract class for the state representation.
void set_u_lb(const VectorXs &u_lb)
Modify the control lower bounds.
virtual void calc(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
Compute the system acceleration and cost value.
std::size_t nu_
Control dimension.
bool has_control_limits_
Indicates whether any of the control limits is finite.
virtual boost::shared_ptr< DifferentialActionDataAbstract > createData()
Create the differential action data.
virtual void quasiStatic(const boost::shared_ptr< DifferentialActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t &maxiter=100, const Scalar &tol=Scalar(1e-9))
Computes the quasic static commands.
boost::shared_ptr< StateAbstract > state_
Model of the state.
VectorXs quasiStatic_x(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const VectorXs &x, const std::size_t &maxiter=100, const Scalar &tol=Scalar(1e-9))
DifferentialActionModelAbstractTpl(boost::shared_ptr< StateAbstract > state, const std::size_t &nu, const std::size_t &nr=0)
Initialize the differential action model.
void set_u_ub(const VectorXs &u_ub)
Modify the control upper bounds.
VectorXs u_ub_
Upper control limits.
const VectorXs & get_u_lb() const
Return the control lower bound.