crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
control.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
10 #define CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
11 
12 #include "crocoddyl/core/fwd.hpp"
13 #include "crocoddyl/core/residual-base.hpp"
14 
15 namespace crocoddyl {
16 
31 template <typename _Scalar>
33  public:
34  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
35 
36  typedef _Scalar Scalar;
41  typedef typename MathBase::VectorXs VectorXs;
42  typedef typename MathBase::MatrixXs MatrixXs;
43 
52  ResidualModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state, const VectorXs& uref);
53 
62  ResidualModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state, const std::size_t nu);
63 
71  explicit ResidualModelControlTpl(boost::shared_ptr<typename Base::StateAbstract> state);
72  virtual ~ResidualModelControlTpl();
73 
81  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
82  const Eigen::Ref<const VectorXs>& u);
83 
88  virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
89 
97  virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
98  const Eigen::Ref<const VectorXs>& u);
99 
103  virtual boost::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract* const data);
104 
108  const VectorXs& get_reference() const;
109 
113  void set_reference(const VectorXs& reference);
114 
120  virtual void print(std::ostream& os) const;
121 
122  protected:
123  using Base::nu_;
124  using Base::state_;
125  using Base::unone_;
126 
127  private:
128  VectorXs uref_;
129 };
130 
131 } // namespace crocoddyl
132 
133 /* --- Details -------------------------------------------------------------- */
134 /* --- Details -------------------------------------------------------------- */
135 /* --- Details -------------------------------------------------------------- */
136 #include "crocoddyl/core/residuals/control.hxx"
137 
138 #endif // CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
Abstract class for residual models.
boost::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
VectorXs unone_
No control vector.
Define a control residual.
Definition: control.hpp:32
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
ResidualModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &uref)
Initialize the control residual model.
virtual void print(std::ostream &os) const
Print relevant information of the control residual.
ResidualModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state)
Initialize the control residual model.
ResidualModelControlTpl(boost::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu)
Initialize the control residual model.
virtual void calc(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the control residual.
void set_reference(const VectorXs &reference)
Modify the reference control vector.
virtual void calcDiff(const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the control residual.
const VectorXs & get_reference() const
Return the reference control vector.
virtual boost::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data)
Create the control residual data.