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"
30 template <
typename _Scalar>
31 class ActuationModelNumDiffTpl :
public ActuationModelAbstractTpl<_Scalar> {
33 typedef _Scalar Scalar;
34 typedef MathBaseTpl<Scalar> MathBase;
35 typedef ActuationModelAbstractTpl<Scalar> Base;
36 typedef ActuationDataNumDiffTpl<Scalar> Data;
37 typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract;
38 typedef typename MathBase::VectorXs VectorXs;
39 typedef typename MathBase::MatrixXs MatrixXs;
56 virtual void calc(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
57 const Eigen::Ref<const VectorXs>& u);
63 virtual void calc(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
68 virtual void calcDiff(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
69 const Eigen::Ref<const VectorXs>& u);
75 virtual void calcDiff(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
80 virtual boost::shared_ptr<ActuationDataAbstract>
createData();
85 const boost::shared_ptr<Base>&
get_model()
const;
98 boost::shared_ptr<Base> model_;
105 template <
typename _Scalar>
106 struct ActuationDataNumDiffTpl :
public ActuationDataAbstractTpl<_Scalar> {
107 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
109 typedef _Scalar Scalar;
110 typedef MathBaseTpl<Scalar> MathBase;
111 typedef typename MathBase::VectorXs VectorXs;
112 typedef ActuationDataAbstractTpl<Scalar> Base;
120 template <
template <
typename Scalar>
class Model>
123 dx(model->get_model()->get_state()->get_ndx()),
124 du(model->get_model()->get_nu()),
125 xp(model->get_model()->get_state()->get_nx()) {
129 const std::size_t ndx = model->get_model()->get_state()->get_ndx();
130 const std::size_t nu = model->get_model()->get_nu();
131 data_0 = model->get_model()->createData();
132 for (std::size_t i = 0; i < ndx; ++i) {
133 data_x.push_back(model->get_model()->createData());
135 for (std::size_t i = 0; i < nu; ++i) {
136 data_u.push_back(model->get_model()->createData());
144 std::vector<boost::shared_ptr<Base> >
data_x;
145 std::vector<boost::shared_ptr<Base> >
data_u;
157 #include "crocoddyl/core/numdiff/actuation.hxx"
159 #endif // CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_