10 #ifndef CROCODDYL_CORE_NUMDIFF_ACTION_HPP_
11 #define CROCODDYL_CORE_NUMDIFF_ACTION_HPP_
15 #include "crocoddyl/core/fwd.hpp"
16 #include "crocoddyl/core/action-base.hpp"
51 template <
typename _Scalar>
52 class ActionModelNumDiffTpl :
public ActionModelAbstractTpl<_Scalar> {
54 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
56 typedef _Scalar Scalar;
57 typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract;
58 typedef ActionModelAbstractTpl<Scalar> Base;
59 typedef ActionDataNumDiffTpl<Scalar> Data;
60 typedef MathBaseTpl<Scalar> MathBase;
61 typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
62 typedef typename MathBaseTpl<Scalar>::MatrixXs MatrixXs;
79 virtual void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
80 const Eigen::Ref<const VectorXs>& u);
85 virtual void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
86 const Eigen::Ref<const VectorXs>& u);
93 virtual boost::shared_ptr<ActionDataAbstract>
createData();
100 const boost::shared_ptr<Base>&
get_model()
const;
145 void assertStableStateFD(
const Eigen::Ref<const VectorXs>& x);
151 boost::shared_ptr<Base> model_;
159 bool with_gauss_approx_;
162 template <
typename _Scalar>
163 struct ActionDataNumDiffTpl :
public ActionDataAbstractTpl<_Scalar> {
164 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
166 typedef _Scalar Scalar;
167 typedef MathBaseTpl<Scalar> MathBase;
168 typedef ActionDataAbstractTpl<Scalar> Base;
169 typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
170 typedef typename MathBaseTpl<Scalar>::MatrixXs MatrixXs;
178 template <
template <
typename Scalar>
class Model>
181 Rx(model->get_model()->get_nr(), model->get_model()->get_state()->get_ndx()),
182 Ru(model->get_model()->get_nr(), model->get_model()->get_nu()),
183 dx(model->get_model()->get_state()->get_ndx()),
184 du(model->get_model()->get_nu()),
185 xp(model->get_model()->get_state()->get_nx()) {
192 const std::size_t ndx = model->get_model()->get_state()->get_ndx();
193 const std::size_t nu = model->get_model()->get_nu();
194 data_0 = model->get_model()->createData();
195 for (std::size_t i = 0; i < ndx; ++i) {
196 data_x.push_back(model->get_model()->createData());
198 for (std::size_t i = 0; i < nu; ++i) {
199 data_u.push_back(model->get_model()->createData());
220 std::vector<boost::shared_ptr<Base> >
data_x;
221 std::vector<boost::shared_ptr<Base> >
data_u;
229 #include "crocoddyl/core/numdiff/action.hxx"
231 #endif // CROCODDYL_CORE_NUMDIFF_ACTION_HPP_