crocoddyl  1.7.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
control.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2020, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_CORE_COSTS_CONTROL_HPP_
10 #define CROCODDYL_CORE_COSTS_CONTROL_HPP_
11 
12 #include "crocoddyl/core/fwd.hpp"
13 #include "crocoddyl/core/cost-base.hpp"
14 #include "crocoddyl/core/utils/deprecate.hpp"
15 
16 namespace crocoddyl {
17 
34 template <typename _Scalar>
35 class CostModelControlTpl : public CostModelAbstractTpl<_Scalar> {
36  public:
37  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
38 
39  typedef _Scalar Scalar;
44  typedef typename MathBase::VectorXs VectorXs;
45 
55  CostModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state,
56  boost::shared_ptr<ActivationModelAbstract> activation, const VectorXs& uref);
66  CostModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state,
67  boost::shared_ptr<ActivationModelAbstract> activation);
68 
78  CostModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state,
79  boost::shared_ptr<ActivationModelAbstract> activation, const std::size_t nu);
80 
90  CostModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state, const VectorXs& uref);
91 
102  explicit CostModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state);
103 
113  CostModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state, const std::size_t nu);
114  virtual ~CostModelControlTpl();
115 
123  virtual void calc(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
124  const Eigen::Ref<const VectorXs>& u);
125 
133  virtual void calcDiff(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
134  const Eigen::Ref<const VectorXs>& u);
135 
136  DEPRECATED("Use set_reference<MathbTpl<Scalare>::VectorXs>()", void set_uref(const VectorXs& uref_in));
137  DEPRECATED("Use get_reference<MathbTpl<Scalare>::VectorXs>()", const VectorXs& get_uref() const);
138 
139  protected:
143  virtual void set_referenceImpl(const std::type_info& ti, const void* pv);
144 
148  virtual void get_referenceImpl(const std::type_info& ti, void* pv) const;
149 
150  using Base::activation_;
151  using Base::nu_;
152  using Base::state_;
153  using Base::unone_;
154 
155  private:
156  VectorXs uref_;
157 };
158 
159 } // namespace crocoddyl
160 
161 /* --- Details -------------------------------------------------------------- */
162 /* --- Details -------------------------------------------------------------- */
163 /* --- Details -------------------------------------------------------------- */
164 #include "crocoddyl/core/costs/control.hxx"
165 
166 #endif // CROCODDYL_CORE_COSTS_CONTROL_HPP_
Abstract class for cost models.
Definition: cost-base.hpp:47
virtual void get_referenceImpl(const std::type_info &ti, void *pv) const
Return the state control.
virtual void calcDiff(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the control cost.
virtual void calc(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the control cost.
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Definition: cost-base.hpp:194
CostModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const VectorXs &uref)
Initialize the control cost model.
VectorXs unone_
No control vector.
Definition: cost-base.hpp:196
virtual void set_referenceImpl(const std::type_info &ti, const void *pv)
Modify the control reference.
std::size_t nu_
Control dimension.
Definition: cost-base.hpp:195
boost::shared_ptr< StateAbstract > state_
State description.
Definition: cost-base.hpp:193