crocoddyl
1.8.1
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
|
|
9 #ifndef CROCODDYL_CORE_ACTIONS_LQR_HPP_
10 #define CROCODDYL_CORE_ACTIONS_LQR_HPP_
14 #include "crocoddyl/core/fwd.hpp"
15 #include "crocoddyl/core/action-base.hpp"
16 #include "crocoddyl/core/states/euclidean.hpp"
20 template <
typename _Scalar>
23 typedef _Scalar Scalar;
29 typedef typename MathBase::VectorXs VectorXs;
30 typedef typename MathBase::MatrixXs MatrixXs;
32 ActionModelLQRTpl(
const std::size_t nx,
const std::size_t nu,
const bool drift_free =
true);
35 virtual void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
36 const Eigen::Ref<const VectorXs>& u);
37 virtual void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
38 const Eigen::Ref<const VectorXs>& u);
39 virtual boost::shared_ptr<ActionDataAbstract>
createData();
40 virtual bool checkData(
const boost::shared_ptr<ActionDataAbstract>& data);
42 const MatrixXs& get_Fx()
const;
43 const MatrixXs& get_Fu()
const;
44 const VectorXs& get_f0()
const;
45 const VectorXs& get_lx()
const;
46 const VectorXs& get_lu()
const;
47 const MatrixXs& get_Lxx()
const;
48 const MatrixXs& get_Lxu()
const;
49 const MatrixXs& get_Luu()
const;
51 void set_Fx(
const MatrixXs& Fx);
52 void set_Fu(
const MatrixXs& Fu);
53 void set_f0(
const VectorXs& f0);
54 void set_lx(
const VectorXs& lx);
55 void set_lu(
const VectorXs& lu);
56 void set_Lxx(
const MatrixXs& Lxx);
57 void set_Lxu(
const MatrixXs& Lxu);
58 void set_Luu(
const MatrixXs& Luu);
65 virtual void print(std::ostream& os)
const;
83 template <
typename _Scalar>
85 typedef _Scalar Scalar;
89 template <
template <
typename Scalar>
class Model>
94 Lxx = model->get_Lxx();
95 Luu = model->get_Luu();
96 Lxu = model->get_Lxu();
116 #include "crocoddyl/core/actions/lqr.hxx"
118 #endif // CROCODDYL_CORE_ACTIONS_LQR_HPP_
MatrixXs Lxu
Hessian of the cost function.
virtual bool checkData(const boost::shared_ptr< ActionDataAbstract > &data)
Checks that a specific data belongs to this model.
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.
std::size_t nu_
Control dimension.
VectorXs Lx
Jacobian of the cost function.
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.
VectorXs xnext
evolution state
Abstract class for action model.
virtual boost::shared_ptr< ActionDataAbstract > createData()
Create the action data.
boost::shared_ptr< StateAbstract > state_
Model of the state.
MatrixXs Fx
Jacobian of the dynamics.
virtual void print(std::ostream &os) const
Print relevant information of the LQR model.
VectorXs Lu
Jacobian of the cost function.
MatrixXs Lxx
Hessian of the cost function.
MatrixXs Fu
Jacobian of the dynamics.
MatrixXs Luu
Hessian of the cost function.