crocoddyl  1.6.0
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ActionModelLQRTpl< _Scalar > Class Template Reference
Inheritance diagram for ActionModelLQRTpl< _Scalar >:
Collaboration diagram for ActionModelLQRTpl< _Scalar >:

Public Types

typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef ActionModelAbstractTpl< Scalar > Base
 
typedef ActionDataLQRTpl< Scalar > Data
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef _Scalar Scalar
 
typedef StateVectorTpl< Scalar > StateVector
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActionModelAbstractTpl< _Scalar >
typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 ActionModelLQRTpl (const std::size_t &nx, const std::size_t &nu, bool drift_free=true)
 
virtual void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the next state and cost value. More...
 
virtual void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the derivatives of the dynamics and cost functions. More...
 
virtual bool checkData (const boost::shared_ptr< ActionDataAbstract > &data)
 Checks that a specific data belongs to this model.
 
virtual boost::shared_ptr< ActionDataAbstractcreateData ()
 Create the action data. More...
 
const VectorXs & get_f0 () const
 
const MatrixXs & get_Fu () const
 
const MatrixXs & get_Fx () const
 
const VectorXs & get_lu () const
 
const MatrixXs & get_Luu () const
 
const VectorXs & get_lx () const
 
const MatrixXs & get_Lxu () const
 
const MatrixXs & get_Lxx () const
 
void set_f0 (const VectorXs &f0)
 
void set_Fu (const MatrixXs &Fu)
 
void set_Fx (const MatrixXs &Fx)
 
void set_lu (const VectorXs &lu)
 
void set_Luu (const MatrixXs &Luu)
 
void set_lx (const VectorXs &lx)
 
void set_Lxu (const MatrixXs &Lxu)
 
void set_Lxx (const MatrixXs &Lxx)
 
- Public Member Functions inherited from ActionModelAbstractTpl< _Scalar >
 ActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nu, const std::size_t &nr=0)
 Initialize the action model. More...
 
void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 Compute the next state and cost value. More...
 
void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 Compute the derivatives of the dynamics and cost functions. More...
 
bool const & get_has_control_limits () const
 Indicates if there are defined control limits.
 
const std::size_t & get_nr () const
 Return the dimension of the cost-residual vector.
 
const std::size_t & get_nu () const
 Return the dimension of the control input.
 
const boost::shared_ptr< StateAbstract > & get_state () const
 Return the state.
 
const VectorXs & get_u_lb () const
 Return the control lower bound.
 
const VectorXs & get_u_ub () const
 Return the control upper bound.
 
virtual void quasiStatic (const boost::shared_ptr< ActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t &maxiter=100, const Scalar &tol=Scalar(1e-9))
 Computes the quasic static commands. More...
 
VectorXs quasiStatic_x (const boost::shared_ptr< ActionDataAbstract > &data, const VectorXs &x, const std::size_t &maxiter=100, const Scalar &tol=Scalar(1e-9))
 
void set_u_lb (const VectorXs &u_lb)
 Modify the control lower bounds.
 
void set_u_ub (const VectorXs &u_ub)
 Modify the control upper bounds.
 

Protected Attributes

bool has_control_limits_
 Indicates whether any of the control limits is finite.
 
std::size_t nr_
 < Indicates whether any of the control limits
 
std::size_t nu_
 < Dimension of the cost residual
 
boost::shared_ptr< StateAbstractstate_
 < Control dimension
 
VectorXs u_lb_
 < Model of the state
 
VectorXs u_ub_
 < Lower control limits
 
VectorXs unone_
 < Upper control limits
 
- Protected Attributes inherited from ActionModelAbstractTpl< _Scalar >
bool has_control_limits_
 Indicates whether any of the control limits is finite.
 
std::size_t nr_
 Dimension of the cost residual.
 
std::size_t nu_
 Control dimension.
 
boost::shared_ptr< StateAbstractstate_
 Model of the state.
 
VectorXs u_lb_
 Lower control limits.
 
VectorXs u_ub_
 Upper control limits.
 
VectorXs unone_
 Neutral state.
 

Additional Inherited Members

- Public Attributes inherited from ActionModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Protected Member Functions inherited from ActionModelAbstractTpl< _Scalar >
void update_has_control_limits ()
 Update the status of the control limits (i.e. if there are defined limits)
 

Detailed Description

template<typename _Scalar>
class crocoddyl::ActionModelLQRTpl< _Scalar >

Definition at line 21 of file lqr.hpp.

Member Function Documentation

◆ calc()

virtual void calc ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

Compute the next state and cost value.

Parameters
[in]dataAction data
[in]xState point
[in]uControl input

Implements ActionModelAbstractTpl< _Scalar >.

◆ calcDiff()

virtual void calcDiff ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

Compute the derivatives of the dynamics and cost functions.

It computes the partial derivatives of the dynamical system and the cost function. It assumes that calc() has been run first. This function builds a linear-quadratic approximation of the action model (i.e. dynamical system and cost function).

Parameters
[in]dataAction data
[in]xState point
[in]uControl input

Implements ActionModelAbstractTpl< _Scalar >.

◆ createData()

virtual boost::shared_ptr<ActionDataAbstract> createData ( )
virtual

Create the action data.

Returns
the action data

Reimplemented from ActionModelAbstractTpl< _Scalar >.


The documentation for this class was generated from the following file: