9 #ifndef CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_ 10 #define CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_ 15 #include "crocoddyl/core/fwd.hpp" 16 #include "crocoddyl/core/actuation-base.hpp" 20 template <
typename _Scalar>
21 class ActuationModelNumDiffTpl :
public ActuationModelAbstractTpl<_Scalar> {
23 typedef _Scalar Scalar;
24 typedef MathBaseTpl<Scalar> MathBase;
25 typedef ActuationModelAbstractTpl<Scalar> Base;
26 typedef ActuationDataNumDiffTpl<Scalar> Data;
27 typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract;
28 typedef typename MathBase::VectorXs VectorXs;
29 typedef typename MathBase::MatrixXs MatrixXs;
46 virtual void calc(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
47 const Eigen::Ref<const VectorXs>& u);
52 virtual void calcDiff(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
53 const Eigen::Ref<const VectorXs>& u);
60 virtual boost::shared_ptr<ActuationDataAbstract>
createData();
67 const boost::shared_ptr<Base>&
get_model()
const;
87 boost::shared_ptr<Base> model_;
99 template <
typename _Scalar>
100 struct ActuationDataNumDiffTpl :
public ActuationDataAbstractTpl<_Scalar> {
101 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
103 typedef _Scalar Scalar;
104 typedef MathBaseTpl<Scalar> MathBase;
105 typedef typename MathBase::VectorXs VectorXs;
106 typedef ActuationDataAbstractTpl<Scalar> Base;
114 template <
template <
typename Scalar>
class Model>
117 dx(model->
get_model()->get_state()->get_ndx()),
119 xp(model->
get_model()->get_state()->get_nx()) {
123 const std::size_t ndx = model->get_model()->get_state()->get_ndx();
124 const std::size_t nu = model->get_model()->get_nu();
125 data_0 = model->get_model()->createData();
126 for (std::size_t i = 0; i < ndx; ++i) {
127 data_x.push_back(model->get_model()->createData());
129 for (std::size_t i = 0; i < nu; ++i) {
130 data_u.push_back(model->get_model()->createData());
138 std::vector<boost::shared_ptr<Base> >
data_x;
139 std::vector<boost::shared_ptr<Base> >
data_u;
151 #include "crocoddyl/core/numdiff/actuation.hxx" 153 #endif // CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_ VectorXs dx
State disturbance.
ActuationDataNumDiffTpl(Model< Scalar > *const model)
Construct a new ActuationDataNumDiff object.
const boost::shared_ptr< Base > & get_model() const
Get the model_ object.
virtual boost::shared_ptr< ActuationDataAbstract > createData()
Create a Data object from the given model.
void set_disturbance(const Scalar disturbance)
Set the disturbance_ object.
virtual void calcDiff(const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
boost::shared_ptr< Base > data_0
The data that contains the final results.
ActuationModelNumDiffTpl(boost::shared_ptr< Base > model)
Construct a new ActuationModelNumDiff object.
virtual ~ActuationModelNumDiffTpl()
Destroy the ActuationModelNumDiff object.
VectorXs du
Control disturbance.
const Scalar get_disturbance() const
Get the disturbance_ object.
std::vector< boost::shared_ptr< Base > > data_x
The temporary data associated with the state variation.
virtual void calc(const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
std::vector< boost::shared_ptr< Base > > data_u
The temporary data associated with the control variation.
VectorXs xp
The integrated state from the disturbance on one DoF "\f$ \int x dx_i \f$".