10 #ifndef CROCODDYL_CORE_NUMDIFF_STATE_HPP_
11 #define CROCODDYL_CORE_NUMDIFF_STATE_HPP_
13 #include <boost/make_shared.hpp>
14 #include <boost/shared_ptr.hpp>
16 #include "crocoddyl/core/fwd.hpp"
17 #include "crocoddyl/core/state-base.hpp"
21 template <
typename _Scalar>
22 class StateNumDiffTpl :
public StateAbstractTpl<_Scalar> {
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
26 typedef _Scalar Scalar;
27 typedef MathBaseTpl<Scalar> MathBase;
28 typedef StateAbstractTpl<_Scalar> Base;
29 typedef typename MathBase::VectorXs VectorXs;
30 typedef typename MathBase::MatrixXs MatrixXs;
32 explicit StateNumDiffTpl(boost::shared_ptr<Base> state);
33 virtual ~StateNumDiffTpl();
35 virtual VectorXs zero()
const;
36 virtual VectorXs rand()
const;
37 virtual void diff(
const Eigen::Ref<const VectorXs>& x0,
const Eigen::Ref<const VectorXs>& x1,
38 Eigen::Ref<VectorXs> dxout)
const;
39 virtual void integrate(
const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& dx,
40 Eigen::Ref<VectorXs> xout)
const;
56 virtual void Jdiff(
const Eigen::Ref<const VectorXs>& x0,
const Eigen::Ref<const VectorXs>& x1,
57 Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond, Jcomponent firstsecond = both)
const;
73 virtual void Jintegrate(
const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& dx,
74 Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond,
75 const Jcomponent firstsecond = both,
const AssignmentOp op = setto)
const;
77 virtual void JintegrateTransport(
const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& dx,
78 Eigen::Ref<MatrixXs> Jin,
const Jcomponent firstsecond = both)
const;
80 const Scalar& get_disturbance()
const;
81 void set_disturbance(
const Scalar& disturbance);
88 boost::shared_ptr<Base> state_;
109 #include "crocoddyl/core/numdiff/state.hxx"
111 #endif // CROCODDYL_CORE_NUMDIFF_STATE_HPP_