| Directory: | ./ |
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| File: | include/crocoddyl/core/actions/unicycle.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 5 | 6 | 83.3% |
| Branches: | 3 | 8 | 37.5% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_ | ||
| 11 | #define CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_ | ||
| 12 | |||
| 13 | #include <stdexcept> | ||
| 14 | |||
| 15 | #include "crocoddyl/core/action-base.hpp" | ||
| 16 | #include "crocoddyl/core/fwd.hpp" | ||
| 17 | #include "crocoddyl/core/states/euclidean.hpp" | ||
| 18 | |||
| 19 | namespace crocoddyl { | ||
| 20 | template <typename _Scalar> | ||
| 21 | class ActionModelUnicycleTpl : public ActionModelAbstractTpl<_Scalar> { | ||
| 22 | public: | ||
| 23 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 24 | ✗ | CROCODDYL_DERIVED_CAST(ActionModelBase, ActionModelUnicycleTpl) | |
| 25 | |||
| 26 | typedef _Scalar Scalar; | ||
| 27 | typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract; | ||
| 28 | typedef ActionModelAbstractTpl<Scalar> Base; | ||
| 29 | typedef ActionDataUnicycleTpl<Scalar> Data; | ||
| 30 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 31 | typedef typename MathBase::VectorXs VectorXs; | ||
| 32 | typedef typename MathBase::Vector2s Vector2s; | ||
| 33 | |||
| 34 | ActionModelUnicycleTpl(); | ||
| 35 | 70 | virtual ~ActionModelUnicycleTpl() = default; | |
| 36 | |||
| 37 | virtual void calc(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 38 | const Eigen::Ref<const VectorXs>& x, | ||
| 39 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 40 | virtual void calc(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 41 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 42 | virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 43 | const Eigen::Ref<const VectorXs>& x, | ||
| 44 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 45 | virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data, | ||
| 46 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 47 | virtual std::shared_ptr<ActionDataAbstract> createData() override; | ||
| 48 | |||
| 49 | /** | ||
| 50 | * @brief Cast the unicycle model to a different scalar type. | ||
| 51 | * | ||
| 52 | * It is useful for operations requiring different precision or scalar types. | ||
| 53 | * | ||
| 54 | * @tparam NewScalar The new scalar type to cast to. | ||
| 55 | * @return ActionModelUnicycleTpl<NewScalar> A unicycle model with the | ||
| 56 | * new scalar type. | ||
| 57 | */ | ||
| 58 | template <typename NewScalar> | ||
| 59 | ActionModelUnicycleTpl<NewScalar> cast() const; | ||
| 60 | |||
| 61 | virtual bool checkData( | ||
| 62 | const std::shared_ptr<ActionDataAbstract>& data) override; | ||
| 63 | |||
| 64 | const Vector2s& get_cost_weights() const; | ||
| 65 | void set_cost_weights(const Vector2s& weights); | ||
| 66 | |||
| 67 | Scalar get_dt() const; | ||
| 68 | void set_dt(const Scalar dt); | ||
| 69 | |||
| 70 | /** | ||
| 71 | * @brief Print relevant information of the unicycle model | ||
| 72 | * | ||
| 73 | * @param[out] os Output stream object | ||
| 74 | */ | ||
| 75 | virtual void print(std::ostream& os) const override; | ||
| 76 | |||
| 77 | protected: | ||
| 78 | using Base::nu_; //!< Control dimension | ||
| 79 | using Base::state_; //!< Model of the state | ||
| 80 | |||
| 81 | private: | ||
| 82 | Vector2s cost_weights_; | ||
| 83 | Scalar dt_; | ||
| 84 | }; | ||
| 85 | |||
| 86 | template <typename _Scalar> | ||
| 87 | struct ActionDataUnicycleTpl : public ActionDataAbstractTpl<_Scalar> { | ||
| 88 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 89 | |||
| 90 | typedef _Scalar Scalar; | ||
| 91 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 92 | typedef ActionDataAbstractTpl<Scalar> Base; | ||
| 93 | using Base::cost; | ||
| 94 | using Base::Fu; | ||
| 95 | using Base::Fx; | ||
| 96 | using Base::Lu; | ||
| 97 | using Base::Luu; | ||
| 98 | using Base::Lx; | ||
| 99 | using Base::Lxu; | ||
| 100 | using Base::Lxx; | ||
| 101 | using Base::r; | ||
| 102 | using Base::xnext; | ||
| 103 | |||
| 104 | template <template <typename Scalar> class Model> | ||
| 105 | 1342 | explicit ActionDataUnicycleTpl(Model<Scalar>* const model) : Base(model) { | |
| 106 |
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1342 | Fx.diagonal().array() = Scalar(1.); |
| 107 | 1342 | } | |
| 108 | 1258 | virtual ~ActionDataUnicycleTpl() = default; | |
| 109 | }; | ||
| 110 | |||
| 111 | } // namespace crocoddyl | ||
| 112 | |||
| 113 | /* --- Details -------------------------------------------------------------- */ | ||
| 114 | /* --- Details -------------------------------------------------------------- */ | ||
| 115 | /* --- Details -------------------------------------------------------------- */ | ||
| 116 | #include "crocoddyl/core/actions/unicycle.hxx" | ||
| 117 | |||
| 118 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActionModelUnicycleTpl) | ||
| 119 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ActionDataUnicycleTpl) | ||
| 120 | |||
| 121 | #endif // CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_ | ||
| 122 |