10 #ifndef CROCODDYL_MULTIBODY_NUMDIFF_COST_HPP_
11 #define CROCODDYL_MULTIBODY_NUMDIFF_COST_HPP_
13 #include <boost/function.hpp>
14 #include "crocoddyl/multibody/fwd.hpp"
15 #include "crocoddyl/multibody/cost-base.hpp"
19 template <
typename _Scalar>
20 class CostModelNumDiffTpl :
public CostModelAbstractTpl<_Scalar> {
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 typedef _Scalar Scalar;
25 typedef CostDataAbstractTpl<Scalar> CostDataAbstract;
26 typedef CostModelAbstractTpl<Scalar> Base;
27 typedef CostDataNumDiffTpl<Scalar> Data;
28 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
29 typedef MathBaseTpl<Scalar> MathBase;
30 typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
31 typedef typename MathBaseTpl<Scalar>::MatrixXs MatrixXs;
32 typedef boost::function<void(
const typename MathBaseTpl<Scalar>::VectorXs&)> ReevaluationFunction;
49 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
50 const Eigen::Ref<const VectorXs>& u);
55 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
56 const Eigen::Ref<const VectorXs>& u);
64 virtual boost::shared_ptr<CostDataAbstract>
createData(DataCollectorAbstract*
const data);
71 const boost::shared_ptr<Base>&
get_model()
const;
101 void set_reevals(
const std::vector<ReevaluationFunction>& reevals);
104 using Base::activation_;
130 void assertStableStateFD(
const Eigen::Ref<const VectorXs>& );
133 template <
typename _Scalar>
135 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
137 typedef _Scalar Scalar;
144 template <
template <
typename Scalar>
class Model>
146 : Base(model, shared_data),
147 dx(model->get_state()->get_ndx()),
148 xp(model->get_state()->get_nx()),
150 up(model->get_nu()) {
156 const std::size_t& ndx = model->get_model()->get_state()->get_ndx();
157 const std::size_t& nu = model->get_model()->get_nu();
158 data_0 = model->get_model()->createData(shared_data);
159 for (std::size_t i = 0; i < ndx; ++i) {
160 data_x.push_back(model->get_model()->createData(shared_data));
162 for (std::size_t i = 0; i < nu; ++i) {
163 data_u.push_back(model->get_model()->createData(shared_data));
167 virtual ~CostDataNumDiffTpl() {}
169 using Base::activation;
186 std::vector<boost::shared_ptr<Base> >
data_x;
187 std::vector<boost::shared_ptr<Base> >
data_u;
195 #include "crocoddyl/multibody/numdiff/cost.hxx"
197 #endif // CROCODDYL_MULTIBODY_NUMDIFF_COST_HPP_