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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_ |
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#define CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_ |
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#include "crocoddyl/core/action-base.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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#include "crocoddyl/core/states/euclidean.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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class ActionModelUnicycleTpl : public ActionModelAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ActionModelBase, ActionModelUnicycleTpl) |
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typedef _Scalar Scalar; |
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typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract; |
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typedef ActionModelAbstractTpl<Scalar> Base; |
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typedef ActionDataUnicycleTpl<Scalar> Data; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::Vector2s Vector2s; |
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ActionModelUnicycleTpl(); |
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virtual ~ActionModelUnicycleTpl() = default; |
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virtual void calc(const std::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override; |
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virtual void calc(const std::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) override; |
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virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) override; |
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virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) override; |
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virtual std::shared_ptr<ActionDataAbstract> createData() override; |
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/** |
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* @brief Cast the unicycle model to a different scalar type. |
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* |
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* It is useful for operations requiring different precision or scalar types. |
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* |
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* @tparam NewScalar The new scalar type to cast to. |
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* @return ActionModelUnicycleTpl<NewScalar> A unicycle model with the |
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* new scalar type. |
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*/ |
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template <typename NewScalar> |
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ActionModelUnicycleTpl<NewScalar> cast() const; |
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virtual bool checkData( |
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const std::shared_ptr<ActionDataAbstract>& data) override; |
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const Vector2s& get_cost_weights() const; |
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void set_cost_weights(const Vector2s& weights); |
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Scalar get_dt() const; |
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void set_dt(const Scalar dt); |
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/** |
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* @brief Print relevant information of the unicycle model |
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* |
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* @param[out] os Output stream object |
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*/ |
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virtual void print(std::ostream& os) const override; |
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protected: |
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using Base::nu_; //!< Control dimension |
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using Base::state_; //!< Model of the state |
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private: |
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Vector2s cost_weights_; |
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Scalar dt_; |
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}; |
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template <typename _Scalar> |
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struct ActionDataUnicycleTpl : public ActionDataAbstractTpl<_Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ActionDataAbstractTpl<Scalar> Base; |
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using Base::cost; |
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using Base::Fu; |
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using Base::Fx; |
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using Base::Lu; |
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using Base::Luu; |
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using Base::Lx; |
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using Base::Lxu; |
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using Base::Lxx; |
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using Base::r; |
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using Base::xnext; |
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template <template <typename Scalar> class Model> |
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explicit ActionDataUnicycleTpl(Model<Scalar>* const model) : Base(model) { |
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Fx.diagonal().array() = Scalar(1.); |
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} |
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virtual ~ActionDataUnicycleTpl() = default; |
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}; |
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} // namespace crocoddyl |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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#include "crocoddyl/core/actions/unicycle.hxx" |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActionModelUnicycleTpl) |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ActionDataUnicycleTpl) |
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#endif // CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_ |
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