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"
19 #include "crocoddyl/core/utils/math.hpp"
53 template <
typename _Scalar>
56 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
58 typedef _Scalar Scalar;
62 typedef typename MathBase::VectorXs VectorXs;
63 typedef typename MathBase::MatrixXs MatrixXs;
73 const std::size_t nr = 0);
83 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
84 const Eigen::Ref<const VectorXs>& u) = 0;
97 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
98 const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& u) = 0;
105 virtual boost::shared_ptr<DifferentialActionDataAbstract>
createData();
110 virtual bool checkData(
const boost::shared_ptr<DifferentialActionDataAbstract>& data);
118 void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
126 void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
140 virtual void quasiStatic(
const boost::shared_ptr<DifferentialActionDataAbstract>& data, Eigen::Ref<VectorXs> u,
141 const Eigen::Ref<const VectorXs>& x,
const std::size_t maxiter = 100,
142 const Scalar tol = Scalar(1e-9));
155 VectorXs
quasiStatic_x(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const VectorXs& x,
156 const std::size_t maxiter = 100,
const Scalar tol = Scalar(1e-9));
161 std::size_t
get_nu()
const;
166 std::size_t
get_nr()
const;
171 const boost::shared_ptr<StateAbstract>&
get_state()
const;
191 void set_u_lb(
const VectorXs& u_lb);
196 void set_u_ub(
const VectorXs& u_ub);
201 template <
class Scalar>
202 friend std::ostream&
operator<<(std::ostream& os,
214 void update_has_control_limits();
217 template <
typename _Scalar>
219 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
221 typedef _Scalar Scalar;
223 typedef typename MathBase::VectorXs VectorXs;
224 typedef typename MathBase::MatrixXs MatrixXs;
226 template <
template <
typename Scalar>
class Model>
229 xout(model->get_state()->get_nv()),
230 Fx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
231 Fu(model->get_state()->get_nv(), model->get_nu()),
233 Lx(model->get_state()->get_ndx()),
235 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
236 Lxu(model->get_state()->get_ndx(), model->get_nu()),
237 Luu(model->get_nu(), model->get_nu()) {
267 #include "crocoddyl/core/diff-action-base.hxx"
269 #endif // CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_