9 #ifndef CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_
10 #define CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_
13 #include <boost/shared_ptr.hpp>
14 #include <boost/make_shared.hpp>
16 #include "crocoddyl/core/fwd.hpp"
17 #include "crocoddyl/core/state-base.hpp"
18 #include "crocoddyl/core/utils/math.hpp"
52 template <
typename _Scalar>
55 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
57 typedef _Scalar Scalar;
61 typedef typename MathBase::VectorXs VectorXs;
62 typedef typename MathBase::MatrixXs MatrixXs;
72 const std::size_t nr = 0);
82 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
83 const Eigen::Ref<const VectorXs>& u) = 0;
94 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
95 const Eigen::Ref<const VectorXs>& x);
108 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
109 const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& u) = 0;
120 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
121 const Eigen::Ref<const VectorXs>& x);
128 virtual boost::shared_ptr<DifferentialActionDataAbstract>
createData();
133 virtual bool checkData(
const boost::shared_ptr<DifferentialActionDataAbstract>& data);
147 virtual void quasiStatic(
const boost::shared_ptr<DifferentialActionDataAbstract>& data, Eigen::Ref<VectorXs> u,
148 const Eigen::Ref<const VectorXs>& x,
const std::size_t maxiter = 100,
149 const Scalar tol = Scalar(1e-9));
162 VectorXs
quasiStatic_x(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const VectorXs& x,
163 const std::size_t maxiter = 100,
const Scalar tol = Scalar(1e-9));
178 const boost::shared_ptr<StateAbstract>&
get_state()
const;
208 template <
class Scalar>
216 virtual void print(std::ostream& os)
const;
227 void update_has_control_limits();
230 template <
typename _Scalar>
232 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
234 typedef _Scalar Scalar;
236 typedef typename MathBase::VectorXs VectorXs;
237 typedef typename MathBase::MatrixXs MatrixXs;
239 template <
template <
typename Scalar>
class Model>
242 xout(model->get_state()->get_nv()),
243 Fx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
244 Fu(model->get_state()->get_nv(), model->get_nu()),
246 Lx(model->get_state()->get_ndx()),
248 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
249 Lxu(model->get_state()->get_ndx(), model->get_nu()),
250 Luu(model->get_nu(), model->get_nu()) {
280 #include "crocoddyl/core/diff-action-base.hxx"
Abstract class for differential action model.
virtual void calc(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
Compute the total cost value for nodes that depends only on the state.
virtual void calcDiff(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
Compute the derivatives of the dynamics and cost functions.
const boost::shared_ptr< StateAbstract > & get_state() const
Return the state.
VectorXs quasiStatic_x(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))
VectorXs u_lb_
Lower control limits.
DifferentialActionModelAbstractTpl(boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0)
Initialize the differential action model.
VectorXs u_ub_
Upper control limits.
virtual boost::shared_ptr< DifferentialActionDataAbstract > createData()
Create the differential action data.
virtual void print(std::ostream &os) const
Print relevant information of the differential action model.
void set_u_ub(const VectorXs &u_ub)
Modify the control upper bounds.
const VectorXs & get_u_ub() const
Return the control upper bound.
virtual void calc(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
Compute the system acceleration and cost value.
friend std::ostream & operator<<(std::ostream &os, const DifferentialActionModelAbstractTpl< Scalar > &model)
Print information on the differential action model.
bool has_control_limits_
Indicates whether any of the control limits is finite.
bool get_has_control_limits() const
Indicates if there are defined control limits.
boost::shared_ptr< StateAbstract > state_
Model of the state.
std::size_t nu_
Control dimension.
VectorXs unone_
Neutral state.
std::size_t nr_
Dimension of the cost residual.
std::size_t get_nr() const
Return the dimension of the cost-residual vector.
virtual void quasiStatic(const boost::shared_ptr< DifferentialActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))
Computes the quasic static commands.
void set_u_lb(const VectorXs &u_lb)
Modify the control lower bounds.
virtual bool checkData(const boost::shared_ptr< DifferentialActionDataAbstract > &data)
Checks that a specific data belongs to this model.
const VectorXs & get_u_lb() const
Return the control lower bound.
virtual void calcDiff(const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
Compute the derivatives of the cost functions with respect to the state only.
std::size_t get_nu() const
Return the dimension of the control input.
Abstract class for the state representation.
MatrixXs Fx
Jacobian of the dynamics.
MatrixXs Fu
Jacobian of the dynamics.
MatrixXs Luu
Hessian of the cost function.
VectorXs Lx
Jacobian of the cost function.
MatrixXs Lxx
Hessian of the cost function.
VectorXs Lu
Jacobian of the cost function.
VectorXs xout
evolution state
MatrixXs Lxu
Hessian of the cost function.