9 #ifndef CROCODDYL_CORE_ACTION_BASE_HPP_
10 #define CROCODDYL_CORE_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/math.hpp"
19 #include "crocoddyl/core/utils/to-string.hpp"
59 template <
typename _Scalar>
62 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
64 typedef _Scalar Scalar;
68 typedef typename MathBase::VectorXs VectorXs;
77 ActionModelAbstractTpl(boost::shared_ptr<StateAbstract> state,
const std::size_t nu,
const std::size_t nr = 0);
87 virtual void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
88 const Eigen::Ref<const VectorXs>& u) = 0;
101 virtual void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
102 const Eigen::Ref<const VectorXs>& u) = 0;
109 virtual boost::shared_ptr<ActionDataAbstract>
createData();
114 virtual bool checkData(
const boost::shared_ptr<ActionDataAbstract>& data);
122 void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
130 void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
144 virtual void quasiStatic(
const boost::shared_ptr<ActionDataAbstract>& data, Eigen::Ref<VectorXs> u,
145 const Eigen::Ref<const VectorXs>& x,
const std::size_t maxiter = 100,
146 const Scalar tol = Scalar(1e-9));
159 VectorXs
quasiStatic_x(
const boost::shared_ptr<ActionDataAbstract>& data,
const VectorXs& x,
160 const std::size_t maxiter = 100,
const Scalar tol = Scalar(1e-9));
165 std::size_t
get_nu()
const;
170 std::size_t
get_nr()
const;
175 const boost::shared_ptr<StateAbstract>&
get_state()
const;
195 void set_u_lb(
const VectorXs& u_lb);
200 void set_u_ub(
const VectorXs& u_ub);
205 template <
class Scalar>
223 template <
typename _Scalar>
225 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
227 typedef _Scalar Scalar;
229 typedef typename MathBase::VectorXs VectorXs;
230 typedef typename MathBase::MatrixXs MatrixXs;
232 template <
template <
typename Scalar>
class Model>
235 xnext(model->get_state()->get_nx()),
236 Fx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
237 Fu(model->get_state()->get_ndx(), model->get_nu()),
239 Lx(model->get_state()->get_ndx()),
241 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
242 Lxu(model->get_state()->get_ndx(), model->get_nu()),
243 Luu(model->get_nu(), model->get_nu()) {
273 #include "crocoddyl/core/action-base.hxx"
275 #endif // CROCODDYL_CORE_ACTION_BASE_HPP_