9 #ifndef CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_
10 #define CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_
15 #include "crocoddyl/core/fwd.hpp"
16 #include "crocoddyl/core/actuation-base.hpp"
20 template <
typename _Scalar>
21 class ActuationModelNumDiffTpl :
public ActuationModelAbstractTpl<_Scalar> {
23 typedef _Scalar Scalar;
24 typedef MathBaseTpl<Scalar> MathBase;
25 typedef ActuationModelAbstractTpl<Scalar> Base;
26 typedef ActuationDataNumDiffTpl<Scalar> Data;
27 typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract;
28 typedef typename MathBase::VectorXs VectorXs;
29 typedef typename MathBase::MatrixXs MatrixXs;
46 virtual void calc(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
47 const Eigen::Ref<const VectorXs>& u);
52 virtual void calcDiff(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
53 const Eigen::Ref<const VectorXs>& u);
60 virtual boost::shared_ptr<ActuationDataAbstract>
createData();
67 const boost::shared_ptr<Base>&
get_model()
const;
87 boost::shared_ptr<Base> model_;
99 template <
typename _Scalar>
100 struct ActuationDataNumDiffTpl :
public ActuationDataAbstractTpl<_Scalar> {
101 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
103 typedef _Scalar Scalar;
104 typedef MathBaseTpl<Scalar> MathBase;
105 typedef typename MathBase::VectorXs VectorXs;
106 typedef ActuationDataAbstractTpl<Scalar> Base;
114 template <
template <
typename Scalar>
class Model>
117 dx(model->get_model()->get_state()->get_ndx()),
118 du(model->get_model()->get_nu()),
119 xp(model->get_model()->get_state()->get_nx()) {
123 const std::size_t ndx = model->get_model()->get_state()->get_ndx();
124 const std::size_t nu = model->get_model()->get_nu();
125 data_0 = model->get_model()->createData();
126 for (std::size_t i = 0; i < ndx; ++i) {
127 data_x.push_back(model->get_model()->createData());
129 for (std::size_t i = 0; i < nu; ++i) {
130 data_u.push_back(model->get_model()->createData());
138 std::vector<boost::shared_ptr<Base> >
data_x;
139 std::vector<boost::shared_ptr<Base> >
data_u;
151 #include "crocoddyl/core/numdiff/actuation.hxx"
153 #endif // CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_