action-base.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
//                          University of Oxford, Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_ACTION_BASE_HPP_
#define CROCODDYL_CORE_ACTION_BASE_HPP_
 
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/state-base.hpp"
 
namespace crocoddyl {
 
class ActionModelBase {
 public:
  virtual ~ActionModelBase() = default;
 
  CROCODDYL_BASE_CAST(ActionModelBase, ActionModelAbstractTpl)
};
 
template <typename _Scalar>
class ActionModelAbstractTpl : public ActionModelBase {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef typename ScalarSelector<Scalar>::type ScalarType;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract;
  typedef StateAbstractTpl<Scalar> StateAbstract;
  typedef typename MathBase::VectorXs VectorXs;
 
  ActionModelAbstractTpl(std::shared_ptr<StateAbstract> state,
                         const std::size_t nu, const std::size_t nr = 0,
                         const std::size_t ng = 0, const std::size_t nh = 0,
                         const std::size_t ng_T = 0,
                         const std::size_t nh_T = 0);
  ActionModelAbstractTpl(const ActionModelAbstractTpl<Scalar>& other);
 
  virtual ~ActionModelAbstractTpl() = default;
 
  virtual void calc(const std::shared_ptr<ActionDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) = 0;
 
  virtual void calc(const std::shared_ptr<ActionDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x);
 
  virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) = 0;
 
  virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x);
 
  virtual std::shared_ptr<ActionDataAbstract> createData();
 
  virtual bool checkData(const std::shared_ptr<ActionDataAbstract>& data);
 
  virtual void quasiStatic(const std::shared_ptr<ActionDataAbstract>& data,
                           Eigen::Ref<VectorXs> u,
                           const Eigen::Ref<const VectorXs>& x,
                           const std::size_t maxiter = 100,
                           const Scalar tol = Scalar(1e-9));
 
  VectorXs quasiStatic_x(const std::shared_ptr<ActionDataAbstract>& data,
                         const VectorXs& x, const std::size_t maxiter = 100,
                         const Scalar tol = Scalar(1e-9));
 
  std::size_t get_nu() const;
 
  std::size_t get_nr() const;
 
  virtual std::size_t get_ng() const;
 
  virtual std::size_t get_nh() const;
 
  virtual std::size_t get_ng_T() const;
 
  virtual std::size_t get_nh_T() const;
 
  const std::shared_ptr<StateAbstract>& get_state() const;
 
  virtual const VectorXs& get_g_lb() const;
 
  virtual const VectorXs& get_g_ub() const;
 
  const VectorXs& get_u_lb() const;
 
  const VectorXs& get_u_ub() const;
 
  bool get_has_control_limits() const;
 
  void set_g_lb(const VectorXs& g_lb);
 
  void set_g_ub(const VectorXs& g_ub);
 
  void set_u_lb(const VectorXs& u_lb);
 
  void set_u_ub(const VectorXs& u_ub);
 
  template <class Scalar>
  friend std::ostream& operator<<(std::ostream& os,
                                  const ActionModelAbstractTpl<Scalar>& model);
 
  virtual void print(std::ostream& os) const;
 
 protected:
  std::size_t nu_;    
  std::size_t nr_;    
  std::size_t ng_;    
  std::size_t nh_;    
  std::size_t ng_T_;  
  std::size_t nh_T_;  
  std::shared_ptr<StateAbstract> state_;  
  VectorXs unone_;                        
  VectorXs g_lb_;            
  VectorXs g_ub_;            
  VectorXs u_lb_;            
  VectorXs u_ub_;            
  bool has_control_limits_;  
  ActionModelAbstractTpl()
      : nu_(0), nr_(0), ng_(0), nh_(0), ng_T_(0), nh_T_(0), state_(nullptr) {}
 
  void update_has_control_limits();
 
  template <class Scalar>
  friend class ConstraintModelManagerTpl;
};
 
template <typename _Scalar>
struct ActionDataAbstractTpl {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  explicit ActionDataAbstractTpl(Model<Scalar>* const model)
      : cost(Scalar(0.)),
        xnext(model->get_state()->get_nx()),
        Fx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
        Fu(model->get_state()->get_ndx(), model->get_nu()),
        r(model->get_nr()),
        Lx(model->get_state()->get_ndx()),
        Lu(model->get_nu()),
        Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
        Lxu(model->get_state()->get_ndx(), model->get_nu()),
        Luu(model->get_nu(), model->get_nu()),
        g(model->get_ng() > model->get_ng_T() ? model->get_ng()
                                              : model->get_ng_T()),
        Gx(model->get_ng() > model->get_ng_T() ? model->get_ng()
                                               : model->get_ng_T(),
           model->get_state()->get_ndx()),
        Gu(model->get_ng() > model->get_ng_T() ? model->get_ng()
                                               : model->get_ng_T(),
           model->get_nu()),
        h(model->get_nh() > model->get_nh_T() ? model->get_nh()
                                              : model->get_nh_T()),
        Hx(model->get_nh() > model->get_nh_T() ? model->get_nh()
                                               : model->get_nh_T(),
           model->get_state()->get_ndx()),
        Hu(model->get_nh() > model->get_nh_T() ? model->get_nh()
                                               : model->get_nh_T(),
           model->get_nu()) {
    xnext.setZero();
    Fx.setZero();
    Fu.setZero();
    r.setZero();
    Lx.setZero();
    Lu.setZero();
    Lxx.setZero();
    Lxu.setZero();
    Luu.setZero();
    g.setZero();
    Gx.setZero();
    Gu.setZero();
    h.setZero();
    Hx.setZero();
    Hu.setZero();
  }
  virtual ~ActionDataAbstractTpl() = default;
 
  Scalar cost;     
  VectorXs xnext;  
  MatrixXs Fx;  
  MatrixXs
      Fu;      
  VectorXs r;  
  VectorXs Lx;   
  VectorXs Lu;   
  MatrixXs Lxx;  
  MatrixXs Lxu;  
  MatrixXs Luu;  
  VectorXs g;    
  MatrixXs Gx;   
  MatrixXs Gu;   
  VectorXs h;    
  MatrixXs Hx;   
  MatrixXs Hu;   
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/action-base.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActionModelAbstractTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ActionDataAbstractTpl)
 
#endif  // CROCODDYL_CORE_ACTION_BASE_HPP_