9 #ifndef CROCODDYL_CORE_NUMDIFF_RESIDUAL_HPP_
10 #define CROCODDYL_CORE_NUMDIFF_RESIDUAL_HPP_
12 #include <boost/function.hpp>
13 #include "crocoddyl/multibody/fwd.hpp"
14 #include "crocoddyl/core/residual-base.hpp"
18 template <
typename _Scalar>
19 class ResidualModelNumDiffTpl :
public ResidualModelAbstractTpl<_Scalar> {
21 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
23 typedef _Scalar Scalar;
24 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
25 typedef ResidualModelAbstractTpl<Scalar> Base;
26 typedef ResidualDataNumDiffTpl<Scalar> Data;
27 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
28 typedef MathBaseTpl<Scalar> MathBase;
29 typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
30 typedef typename MathBaseTpl<Scalar>::MatrixXs MatrixXs;
31 typedef boost::function<void(
const VectorXs&,
const VectorXs&)> ReevaluationFunction;
48 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
49 const Eigen::Ref<const VectorXs>& u);
54 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
55 const Eigen::Ref<const VectorXs>& u);
63 virtual boost::shared_ptr<ResidualDataAbstract>
createData(DataCollectorAbstract*
const data);
68 const boost::shared_ptr<Base>&
get_model()
const;
86 void set_reevals(
const std::vector<ReevaluationFunction>& reevals);
114 void assertStableStateFD(
const Eigen::Ref<const VectorXs>& );
117 template <
typename _Scalar>
119 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
121 typedef _Scalar Scalar;
128 template <
template <
typename Scalar>
class Model>
130 : Base(model, shared_data),
131 dx(model->get_state()->get_ndx()),
132 xp(model->get_state()->get_nx()),
134 up(model->get_nu()) {
140 const std::size_t& ndx = model->get_model()->get_state()->get_ndx();
141 const std::size_t& nu = model->get_model()->get_nu();
142 data_0 = model->get_model()->createData(shared_data);
143 for (std::size_t i = 0; i < ndx; ++i) {
144 data_x.push_back(model->get_model()->createData(shared_data));
146 for (std::size_t i = 0; i < nu; ++i) {
147 data_u.push_back(model->get_model()->createData(shared_data));
151 virtual ~ResidualDataNumDiffTpl() {}
163 std::vector<boost::shared_ptr<Base> >
data_x;
164 std::vector<boost::shared_ptr<Base> >
data_u;
172 #include "crocoddyl/core/numdiff/residual.hxx"
174 #endif // CROCODDYL_CORE_NUMDIFF_RESIDUAL_HPP_