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"
46 template <
typename _Scalar>
49 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
51 typedef _Scalar Scalar;
55 typedef typename MathBase::VectorXs VectorXs;
56 typedef typename MathBase::MatrixXs MatrixXs;
66 const std::size_t& nr = 0);
76 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
77 const Eigen::Ref<const VectorXs>& u) = 0;
90 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
91 const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& u) = 0;
98 virtual boost::shared_ptr<DifferentialActionDataAbstract>
createData();
103 virtual bool checkData(
const boost::shared_ptr<DifferentialActionDataAbstract>& data);
111 void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
119 void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
124 const std::size_t&
get_nu()
const;
129 const std::size_t&
get_nr()
const;
134 const boost::shared_ptr<StateAbstract>&
get_state()
const;
154 void set_u_lb(
const VectorXs& u_lb);
159 void set_u_ub(
const VectorXs& u_ub);
170 void update_has_control_limits();
173 template <
typename _Scalar>
175 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
177 typedef _Scalar Scalar;
179 typedef typename MathBase::VectorXs VectorXs;
180 typedef typename MathBase::MatrixXs MatrixXs;
182 template <
template <
typename Scalar>
class Model>
185 xout(model->get_state()->get_nv()),
186 Fx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
187 Fu(model->get_state()->get_nv(), model->get_nu()),
189 Lx(model->get_state()->get_ndx()),
191 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
192 Lxu(model->get_state()->get_ndx(), model->get_nu()),
193 Luu(model->get_nu(), model->get_nu()) {
223 #include "crocoddyl/core/diff-action-base.hxx"
225 #endif // CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_