GCC Code Coverage Report

Directory: ./
File: include/crocoddyl/core/constraints/constraint-manager.hpp
Date: 2025-01-16 08:47:40
Exec Total Coverage
Lines: 77 110 70.0%
Branches: 71 278 25.5%
Line Branch Exec Source
1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2020-2024, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #ifndef CROCODDYL_CORE_CONSTRAINTS_CONSTRAINT_MANAGER_HPP_
10 #define CROCODDYL_CORE_CONSTRAINTS_CONSTRAINT_MANAGER_HPP_
11
12 #include <map>
13 #include <set>
14 #include <string>
15 #include <utility>
16
17 #include "crocoddyl/core/constraint-base.hpp"
18 #include "crocoddyl/core/utils/exception.hpp"
19
20 namespace crocoddyl {
21
22 template <typename _Scalar>
23 struct ConstraintItemTpl {
24 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
25
26 typedef _Scalar Scalar;
27 typedef ConstraintModelAbstractTpl<Scalar> ConstraintModelAbstract;
28
29 ConstraintItemTpl() {}
30 2453 ConstraintItemTpl(const std::string& name,
31 boost::shared_ptr<ConstraintModelAbstract> constraint,
32 bool active = true)
33 2453 : name(name), constraint(constraint), active(active) {}
34
35 /**
36 * @brief Print information on the constraint item
37 */
38 ✗ friend std::ostream& operator<<(std::ostream& os,
39 const ConstraintItemTpl<Scalar>& model) {
40 ✗ os << "{" << *model.constraint << "}";
41 ✗ return os;
42 }
43
44 std::string name;
45 boost::shared_ptr<ConstraintModelAbstract> constraint;
46 bool active;
47 };
48
49 /**
50 * @brief Manage the individual constraint models
51 *
52 * This class serves to manage a set of added constraint models. The constraint
53 * functions might active or inactive, with this approach we avoid dynamic
54 * allocation of memory. Each constraint model is added through `addConstraint`,
55 * where its status can be defined.
56 *
57 * The main computations are carring out in `calc` and `calcDiff` routines.
58 * `calc` computes the constraint residuals and `calcDiff` computes the
59 * Jacobians of the constraint functions. Concretely speaking, `calcDiff` builds
60 * a linear approximation of the total constraint function (both inequality and
61 * equality) with the form: \f$\mathbf{g_u}\in\mathbb{R}^{ng\times nu}\f$,
62 * \f$\mathbf{h_x}\in\mathbb{R}^{nh\times ndx}\f$
63 * \f$\mathbf{h_u}\in\mathbb{R}^{nh\times nu}\f$.
64 *
65 * \sa `StateAbstractTpl`, `calc()`, `calcDiff()`, `createData()`
66 */
67 template <typename _Scalar>
68 class ConstraintModelManagerTpl {
69 public:
70 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
71
72 typedef _Scalar Scalar;
73 typedef MathBaseTpl<Scalar> MathBase;
74 typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager;
75 typedef StateAbstractTpl<Scalar> StateAbstract;
76 typedef ConstraintModelAbstractTpl<Scalar> ConstraintModelAbstract;
77 typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract;
78 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
79 typedef ConstraintItemTpl<Scalar> ConstraintItem;
80 typedef typename MathBase::VectorXs VectorXs;
81 typedef typename MathBase::MatrixXs MatrixXs;
82
83 typedef std::map<std::string, boost::shared_ptr<ConstraintItem> >
84 ConstraintModelContainer;
85 typedef std::map<std::string, boost::shared_ptr<ConstraintDataAbstract> >
86 ConstraintDataContainer;
87
88 /**
89 * @brief Initialize the constraint-manager model
90 *
91 * @param[in] state State of the multibody system
92 * @param[in] nu Dimension of control vector
93 */
94 ConstraintModelManagerTpl(boost::shared_ptr<StateAbstract> state,
95 const std::size_t nu);
96
97 /**
98 * @brief Initialize the constraint-manager model
99 *
100 * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`.
101 *
102 * @param[in] state State of the multibody system
103 */
104 explicit ConstraintModelManagerTpl(boost::shared_ptr<StateAbstract> state);
105 ~ConstraintModelManagerTpl();
106
107 /**
108 * @brief Add a constraint item
109 *
110 * @param[in] name Constraint name
111 * @param[in] constraint Constraint model
112 * @param[in] weight Constraint weight
113 * @param[in] active True if the constraint is activated (default true)
114 */
115 void addConstraint(const std::string& name,
116 boost::shared_ptr<ConstraintModelAbstract> constraint,
117 const bool active = true);
118
119 /**
120 * @brief Remove a constraint item
121 *
122 * @param[in] name Constraint name
123 */
124 void removeConstraint(const std::string& name);
125
126 /**
127 * @brief Change the constraint status
128 *
129 * @param[in] name Constraint name
130 * @param[in] active Constraint status (true for active and false for
131 * inactive)
132 */
133 void changeConstraintStatus(const std::string& name, bool active);
134
135 /**
136 * @brief Compute the total constraint value
137 *
138 * @param[in] data Constraint data
139 * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
140 * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
141 */
142 void calc(const boost::shared_ptr<ConstraintDataManager>& data,
143 const Eigen::Ref<const VectorXs>& x,
144 const Eigen::Ref<const VectorXs>& u);
145
146 /**
147 * @brief Compute the total constraint value for nodes that depends only on
148 * the state
149 *
150 * It updates the constraint based on the state only. This function is
151 * commonly used in the terminal nodes of an optimal control problem.
152 *
153 * @param[in] data Constraint data
154 * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
155 */
156 void calc(const boost::shared_ptr<ConstraintDataManager>& data,
157 const Eigen::Ref<const VectorXs>& x);
158
159 /**
160 * @brief Compute the Jacobian of the total constraint
161 *
162 * @param[in] data Constraint data
163 * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
164 * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
165 */
166 void calcDiff(const boost::shared_ptr<ConstraintDataManager>& data,
167 const Eigen::Ref<const VectorXs>& x,
168 const Eigen::Ref<const VectorXs>& u);
169
170 /**
171 * @brief Compute the Jacobian of the total constraint with respect to the
172 * state only
173 *
174 * It computes the Jacobian of the constraint function based on the state
175 * only. This function is commonly used in the terminal nodes of an optimal
176 * control problem.
177 *
178 * @param[in] data Constraint data
179 * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
180 */
181 void calcDiff(const boost::shared_ptr<ConstraintDataManager>& data,
182 const Eigen::Ref<const VectorXs>& x);
183
184 /**
185 * @brief Create the constraint data
186 *
187 * The default data contains objects to store the values of the constraint and
188 * their derivatives (i.e. Jacobians). However, it is possible to specialize
189 * this function is we need to create additional data, for instance, to avoid
190 * dynamic memory allocation.
191 *
192 * @param data Data collector
193 * @return the constraint data
194 */
195 boost::shared_ptr<ConstraintDataManager> createData(
196 DataCollectorAbstract* const data);
197
198 /**
199 * @brief Return the state
200 */
201 const boost::shared_ptr<StateAbstract>& get_state() const;
202
203 /**
204 * @brief Return the stack of constraint models
205 */
206 const ConstraintModelContainer& get_constraints() const;
207
208 /**
209 * @brief Return the dimension of the control input
210 */
211 std::size_t get_nu() const;
212
213 /**
214 * @brief Return the number of active inequality constraints
215 */
216 std::size_t get_ng() const;
217
218 /**
219 * @brief Return the number of active equality constraints
220 */
221 std::size_t get_nh() const;
222
223 /**
224 * @brief Return the number of active inequality terminal constraints
225 */
226 std::size_t get_ng_T() const;
227
228 /**
229 * @brief Return the number of active equality terminal constraints
230 */
231 std::size_t get_nh_T() const;
232
233 /**
234 * @brief Return the names of the set of active constraints
235 */
236 const std::set<std::string>& get_active_set() const;
237
238 /**
239 * @brief Return the names of the set of inactive constraints
240 */
241 const std::set<std::string>& get_inactive_set() const;
242
243 /**
244 * @brief Return the state lower bound
245 */
246 const VectorXs& get_lb() const;
247
248 /**
249 * @brief Return the state upper bound
250 */
251 const VectorXs& get_ub() const;
252
253 /**
254 * @brief Return the status of a given constraint name
255 *
256 * @param[in] name Constraint name
257 */
258 bool getConstraintStatus(const std::string& name) const;
259
260 /**
261 * @brief Print information on the stack of constraints
262 */
263 template <class Scalar>
264 friend std::ostream& operator<<(
265 std::ostream& os, const ConstraintModelManagerTpl<Scalar>& model);
266
267 private:
268 boost::shared_ptr<StateAbstract> state_; //!< State description
269 ConstraintModelContainer constraints_; //!< Stack of constraint items
270 VectorXs lb_; //!< Lower bound of the constraint
271 VectorXs ub_; //!< Upper bound of the constraint
272 std::size_t nu_; //!< Dimension of the control input
273 std::size_t ng_; //!< Number of the active inequality constraints
274 std::size_t nh_; //!< Number of the active equality constraints
275 std::size_t ng_T_; //!< Number of the active inequality terminal constraints
276 std::size_t nh_T_; //!< Number of the active equality terminal constraints
277 std::set<std::string> active_set_; //!< Names of the active constraint items
278 std::set<std::string>
279 inactive_set_; //!< Names of the inactive constraint items
280 };
281
282 template <typename _Scalar>
283 struct ConstraintDataManagerTpl {
284 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
285
286 typedef _Scalar Scalar;
287 typedef MathBaseTpl<Scalar> MathBase;
288 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
289 typedef ConstraintItemTpl<Scalar> ConstraintItem;
290 typedef typename MathBase::VectorXs VectorXs;
291 typedef typename MathBase::MatrixXs MatrixXs;
292
293 template <template <typename Scalar> class Model>
294 50024 ConstraintDataManagerTpl(Model<Scalar>* const model,
295 DataCollectorAbstract* const data)
296
1/2
✓ Branch 2 taken 50024 times.
✗ Branch 3 not taken.
 50024 : g_internal(model->get_ng()),
297
1/2
✓ Branch 5 taken 50024 times.
✗ Branch 6 not taken.
 50024 Gx_internal(model->get_ng(), model->get_state()->get_ndx()),
298
1/2
✓ Branch 3 taken 50024 times.
✗ Branch 4 not taken.
 50024 Gu_internal(model->get_ng(), model->get_nu()),
299
1/2
✓ Branch 2 taken 50024 times.
✗ Branch 3 not taken.
 50024 h_internal(model->get_nh()),
300
1/2
✓ Branch 5 taken 50024 times.
✗ Branch 6 not taken.
 50024 Hx_internal(model->get_nh(), model->get_state()->get_ndx()),
301
1/2
✓ Branch 3 taken 50024 times.
✗ Branch 4 not taken.
 50024 Hu_internal(model->get_nh(), model->get_nu()),
302 50024 shared(data),
303
5/9
✓ Branch 1 taken 9 times.
✗ Branch 2 not taken.
✓ Branch 3 taken 50015 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 9 times.
✓ Branch 6 taken 50015 times.
✗ Branch 7 not taken.
✓ Branch 8 taken 9 times.
✗ Branch 9 not taken.
 50024 g(g_internal.data(), model->get_ng()),
304
5/9
✓ Branch 1 taken 9 times.
✗ Branch 2 not taken.
✓ Branch 6 taken 50015 times.
✗ Branch 7 not taken.
✓ Branch 8 taken 9 times.
✓ Branch 9 taken 50015 times.
✗ Branch 10 not taken.
✓ Branch 11 taken 9 times.
✗ Branch 12 not taken.
 50024 Gx(Gx_internal.data(), model->get_ng(), model->get_state()->get_ndx()),
305
5/9
✓ Branch 1 taken 9 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 50015 times.
✗ Branch 5 not taken.
✓ Branch 6 taken 9 times.
✓ Branch 7 taken 50015 times.
✗ Branch 8 not taken.
✓ Branch 9 taken 9 times.
✗ Branch 10 not taken.
 50024 Gu(Gu_internal.data(), model->get_ng(), model->get_nu()),
306
5/9
✓ Branch 1 taken 9 times.
✗ Branch 2 not taken.
✓ Branch 3 taken 50015 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 9 times.
✓ Branch 6 taken 50015 times.
✗ Branch 7 not taken.
✓ Branch 8 taken 9 times.
✗ Branch 9 not taken.
 50024 h(h_internal.data(), model->get_nh()),
307
5/9
✓ Branch 1 taken 9 times.
✗ Branch 2 not taken.
✓ Branch 6 taken 50015 times.
✗ Branch 7 not taken.
✓ Branch 8 taken 9 times.
✓ Branch 9 taken 50015 times.
✗ Branch 10 not taken.
✓ Branch 11 taken 9 times.
✗ Branch 12 not taken.
 50024 Hx(Hx_internal.data(), model->get_nh(), model->get_state()->get_ndx()),
308
5/9
✓ Branch 2 taken 9 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 50015 times.
✗ Branch 6 not taken.
✓ Branch 7 taken 9 times.
✓ Branch 8 taken 50015 times.
✗ Branch 9 not taken.
✓ Branch 10 taken 9 times.
✗ Branch 11 not taken.
 100048 Hu(Hu_internal.data(), model->get_nh(), model->get_nu()) {
309
1/2
✓ Branch 1 taken 50024 times.
✗ Branch 2 not taken.
 50024 g.setZero();
310
1/2
✓ Branch 1 taken 50024 times.
✗ Branch 2 not taken.
 50024 Gx.setZero();
311
1/2
✓ Branch 1 taken 50024 times.
✗ Branch 2 not taken.
 50024 Gu.setZero();
312
1/2
✓ Branch 1 taken 50024 times.
✗ Branch 2 not taken.
 50024 h.setZero();
313
1/2
✓ Branch 1 taken 50024 times.
✗ Branch 2 not taken.
 50024 Hx.setZero();
314
1/2
✓ Branch 1 taken 50024 times.
✗ Branch 2 not taken.
 50024 Hu.setZero();
315 50024 for (typename ConstraintModelManagerTpl<
316 Scalar>::ConstraintModelContainer::const_iterator it =
317 50024 model->get_constraints().begin();
318
2/2
✓ Branch 3 taken 220648 times.
✓ Branch 4 taken 50024 times.
 270672 it != model->get_constraints().end(); ++it) {
319 220648 const boost::shared_ptr<ConstraintItem>& item = it->second;
320
1/2
✓ Branch 1 taken 220648 times.
✗ Branch 2 not taken.
 220648 constraints.insert(
321
2/4
✓ Branch 3 taken 220648 times.
✗ Branch 4 not taken.
✓ Branch 7 taken 220648 times.
✗ Branch 8 not taken.
 220648 std::make_pair(item->name, item->constraint->createData(data)));
322 }
323 50024 }
324
325 template <class ActionData>
326 97929 void shareMemory(ActionData* const data) {
327 // Save memory by setting the internal variables with null dimension
328 97929 g_internal.resize(0);
329 97929 Gx_internal.resize(0, 0);
330 97929 Gu_internal.resize(0, 0);
331 97929 h_internal.resize(0);
332 97929 Hx_internal.resize(0, 0);
333 97929 Hu_internal.resize(0, 0);
334 // Share memory with the differential action data
335
1/2
✓ Branch 5 taken 49946 times.
✗ Branch 6 not taken.
 97929 new (&g) Eigen::Map<VectorXs>(data->g.data(), data->g.size());
336
1/2
✓ Branch 3 taken 49946 times.
✗ Branch 4 not taken.
 97929 new (&Gx)
337 97929 Eigen::Map<MatrixXs>(data->Gx.data(), data->Gx.rows(), data->Gx.cols());
338
1/2
✓ Branch 3 taken 49946 times.
✗ Branch 4 not taken.
 97929 new (&Gu)
339 97929 Eigen::Map<MatrixXs>(data->Gu.data(), data->Gu.rows(), data->Gu.cols());
340
1/2
✓ Branch 5 taken 49946 times.
✗ Branch 6 not taken.
 97929 new (&h) Eigen::Map<VectorXs>(data->h.data(), data->h.size());
341
1/2
✓ Branch 3 taken 49946 times.
✗ Branch 4 not taken.
 97929 new (&Hx)
342 97929 Eigen::Map<MatrixXs>(data->Hx.data(), data->Hx.rows(), data->Hx.cols());
343
1/2
✓ Branch 3 taken 49946 times.
✗ Branch 4 not taken.
 97929 new (&Hu)
344 97929 Eigen::Map<MatrixXs>(data->Hu.data(), data->Hu.rows(), data->Hu.cols());
345 97929 }
346
347 template <class Model>
348 3 void resize(Model* const model, const bool running_node = true) {
349 3 const std::size_t ndx = model->get_state()->get_ndx();
350 3 const std::size_t nu = model->get_nu();
351
1/2
✗ Branch 0 not taken.
✓ Branch 1 taken 3 times.
 3 const std::size_t ng = running_node ? model->get_ng() : model->get_ng_T();
352
1/2
✗ Branch 0 not taken.
✓ Branch 1 taken 3 times.
 3 const std::size_t nh = running_node ? model->get_nh() : model->get_nh_T();
353
1/2
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 3 new (&g) Eigen::Map<VectorXs>(g_internal.data(), ng);
354
1/2
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 3 new (&Gx) Eigen::Map<MatrixXs>(Gx_internal.data(), ng, ndx);
355
1/2
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 3 new (&Gu) Eigen::Map<MatrixXs>(Gu_internal.data(), ng, nu);
356
1/2
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 3 new (&h) Eigen::Map<VectorXs>(h_internal.data(), nh);
357
1/2
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 3 new (&Hx) Eigen::Map<MatrixXs>(Hx_internal.data(), nh, ndx);
358
1/2
✓ Branch 4 taken 3 times.
✗ Branch 5 not taken.
 3 new (&Hu) Eigen::Map<MatrixXs>(Hu_internal.data(), nh, nu);
359 3 }
360
361 template <class ActionModel, class ActionData>
362 93771 void resize(ActionModel* const model, ActionData* const data,
363 const bool running_node = true) {
364 93771 const std::size_t ndx = model->get_state()->get_ndx();
365 93771 const std::size_t nu = model->get_nu();
366
2/2
✓ Branch 0 taken 43621 times.
✓ Branch 1 taken 4661 times.
 93771 const std::size_t ng = running_node ? model->get_ng() : model->get_ng_T();
367
2/2
✓ Branch 0 taken 43621 times.
✓ Branch 1 taken 4661 times.
 93771 const std::size_t nh = running_node ? model->get_nh() : model->get_nh_T();
368 93771 data->g.conservativeResize(ng);
369 93771 data->Gx.conservativeResize(ng, ndx);
370 93771 data->Gu.conservativeResize(ng, nu);
371 93771 data->h.conservativeResize(nh);
372 93771 data->Hx.conservativeResize(nh, ndx);
373 93771 data->Hu.conservativeResize(nh, nu);
374
1/2
✓ Branch 4 taken 48282 times.
✗ Branch 5 not taken.
 93771 new (&g) Eigen::Map<VectorXs>(data->g.data(), ng);
375
1/2
✓ Branch 4 taken 48282 times.
✗ Branch 5 not taken.
 93771 new (&Gx) Eigen::Map<MatrixXs>(data->Gx.data(), ng, ndx);
376
1/2
✓ Branch 4 taken 48282 times.
✗ Branch 5 not taken.
 93771 new (&Gu) Eigen::Map<MatrixXs>(data->Gu.data(), ng, nu);
377
1/2
✓ Branch 4 taken 48282 times.
✗ Branch 5 not taken.
 93771 new (&h) Eigen::Map<VectorXs>(data->h.data(), nh);
378
1/2
✓ Branch 4 taken 48282 times.
✗ Branch 5 not taken.
 93771 new (&Hx) Eigen::Map<MatrixXs>(data->Hx.data(), nh, ndx);
379
1/2
✓ Branch 4 taken 48282 times.
✗ Branch 5 not taken.
 93771 new (&Hu) Eigen::Map<MatrixXs>(data->Hu.data(), nh, nu);
380 93771 }
381
382 ✗ VectorXs get_g() const { return g; }
383 ✗ MatrixXs get_Gx() const { return Gx; }
384 ✗ MatrixXs get_Gu() const { return Gu; }
385 ✗ VectorXs get_h() const { return h; }
386 ✗ MatrixXs get_Hx() const { return Hx; }
387 ✗ MatrixXs get_Hu() const { return Hu; }
388
389 ✗ void set_g(const VectorXs& _g) {
390 ✗ if (g.size() != _g.size()) {
391 ✗ throw_pretty(
392 "Invalid argument: " << "g has wrong dimension (it should be " +
393 std::to_string(g.size()) + ")");
394 }
395 ✗ g = _g;
396 }
397 ✗ void set_Gx(const MatrixXs& _Gx) {
398 ✗ if (Gx.rows() != _Gx.rows() || Gx.cols() != _Gx.cols()) {
399 ✗ throw_pretty(
400 "Invalid argument: " << "Gx has wrong dimension (it should be " +
401 std::to_string(Gx.rows()) + ", " +
402 std::to_string(Gx.cols()) + ")");
403 }
404 ✗ Gx = _Gx;
405 }
406 ✗ void set_Gu(const MatrixXs& _Gu) {
407 ✗ if (Gu.rows() != _Gu.rows() || Gu.cols() != _Gu.cols()) {
408 ✗ throw_pretty(
409 "Invalid argument: " << "Gu has wrong dimension (it should be " +
410 std::to_string(Gu.rows()) + ", " +
411 std::to_string(Gu.cols()) + ")");
412 }
413 ✗ Gu = _Gu;
414 }
415 ✗ void set_h(const VectorXs& _h) {
416 ✗ if (h.size() != _h.size()) {
417 ✗ throw_pretty(
418 "Invalid argument: " << "h has wrong dimension (it should be " +
419 std::to_string(h.size()) + ")");
420 }
421 ✗ h = _h;
422 }
423 ✗ void set_Hx(const MatrixXs& _Hx) {
424 ✗ if (Hx.rows() != _Hx.rows() || Hx.cols() != _Hx.cols()) {
425 ✗ throw_pretty(
426 "Invalid argument: " << "Hx has wrong dimension (it should be " +
427 std::to_string(Hx.rows()) + ", " +
428 std::to_string(Hx.cols()) + ")");
429 }
430 ✗ Hx = _Hx;
431 }
432 ✗ void set_Hu(const MatrixXs& _Hu) {
433 ✗ if (Hu.rows() != _Hu.rows() || Hu.cols() != _Hu.cols()) {
434 ✗ throw_pretty(
435 "Invalid argument: " << "Hu has wrong dimension (it should be " +
436 std::to_string(Hu.rows()) + ", " +
437 std::to_string(Hu.cols()) + ")");
438 }
439 ✗ Hu = _Hu;
440 }
441
442 // Creates internal data in case we don't share it externally
443 VectorXs g_internal;
444 MatrixXs Gx_internal;
445 MatrixXs Gu_internal;
446 VectorXs h_internal;
447 MatrixXs Hx_internal;
448 MatrixXs Hu_internal;
449
450 typename ConstraintModelManagerTpl<Scalar>::ConstraintDataContainer
451 constraints;
452 DataCollectorAbstract* shared;
453 Eigen::Map<VectorXs> g;
454 Eigen::Map<MatrixXs> Gx;
455 Eigen::Map<MatrixXs> Gu;
456 Eigen::Map<VectorXs> h;
457 Eigen::Map<MatrixXs> Hx;
458 Eigen::Map<MatrixXs> Hu;
459 };
460
461 } // namespace crocoddyl
462
463 /* --- Details -------------------------------------------------------------- */
464 /* --- Details -------------------------------------------------------------- */
465 /* --- Details -------------------------------------------------------------- */
466 #include "crocoddyl/core/constraints/constraint-manager.hxx"
467
468 #endif // CROCODDYL_CORE_CONSTRAINTS_CONSTRAINT_MANAGER_HPP_
469