Inheritance diagram for ActionModelUnicycleTpl< _Scalar >:

Public Types
typedef ActionDataAbstractTpl< Scalar >	ActionDataAbstract

typedef ActionModelAbstractTpl< Scalar >	Base

typedef ActionDataUnicycleTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::Vector2s	Vector2s

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ActionModelAbstractTpl< _Scalar >
typedef ActionDataAbstractTpl< Scalar >	ActionDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef ScalarSelector< Scalar >::type	ScalarType

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
virtual void	calc (const std::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the total cost value for nodes that depends only on the state. More...

virtual void	calc (const std::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the next state and cost value. More...

virtual void	calcDiff (const std::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the derivatives of the cost functions with respect to the state only. More...

virtual void	calcDiff (const std::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the derivatives of the dynamics and cost functions. More...

template<typename NewScalar >
ActionModelUnicycleTpl< NewScalar >	cast () const
	Cast the unicycle model to a different scalar type. More...

virtual bool	checkData (const std::shared_ptr< ActionDataAbstract > &data) override
	Checks that a specific data belongs to this model.

virtual std::shared_ptr< ActionDataAbstract >	createData () override
	Create the action data. More...

const Vector2s &	get_cost_weights () const

Scalar	get_dt () const

virtual void	print (std::ostream &os) const override
	Print relevant information of the unicycle model. More...

void	set_cost_weights (const Vector2s &weights)

void	set_dt (const Scalar dt)

Public Member Functions inherited from ActionModelAbstractTpl< _Scalar >
	ActionModelAbstractTpl (const ActionModelAbstractTpl< Scalar > &other)
	Copy constructor. More...

	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)
	Initialize the action model. More...

virtual const VectorXs &	get_g_lb () const
	Return the lower bound of the inequality constraints.

virtual const VectorXs &	get_g_ub () const
	Return the upper bound of the inequality constraints.

bool	get_has_control_limits () const
	Indicates if there are defined control limits.

virtual std::size_t	get_ng () const
	Return the number of inequality constraints.

virtual std::size_t	get_ng_T () const
	Return the number of inequality terminal constraints.

virtual std::size_t	get_nh () const
	Return the number of equality constraints.

virtual std::size_t	get_nh_T () const
	Return the number of equality terminal constraints.

std::size_t	get_nr () const
	Return the dimension of the cost-residual vector.

std::size_t	get_nu () const
	Return the dimension of the control input.

const std::shared_ptr< StateAbstract > &	get_state () const
	Return the state.

const VectorXs &	get_u_lb () const
	Return the control lower bound.

const VectorXs &	get_u_ub () const
	Return the control upper bound.

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))
	Computes the quasic static commands. More...

VectorXs	quasiStatic_x (const std::shared_ptr< ActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))

void	set_g_lb (const VectorXs &g_lb)
	Modify the lower bound of the inequality constraints.

void	set_g_ub (const VectorXs &g_ub)
	Modify the upper bound of the inequality constraints.

void	set_u_lb (const VectorXs &u_lb)
	Modify the control lower bounds.

void	set_u_ub (const VectorXs &u_ub)
	Modify the control upper bounds.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Public Attributes inherited from ActionModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::size_t	nu_
	Control dimension.

std::shared_ptr< StateAbstract >	state_
	< Control dimension

Protected Attributes inherited from ActionModelAbstractTpl< _Scalar >
VectorXs	g_lb_
	Lower bound of the inequality constraints.

VectorXs	g_ub_
	Lower bound of the inequality constraints.

bool	has_control_limits_

std::size_t	ng_
	Number of inequality constraints.

std::size_t	ng_T_
	Number of inequality terminal constraints.

std::size_t	nh_
	Number of equality constraints.

std::size_t	nh_T_
	Number of equality terminal constraints.

std::size_t	nr_
	Dimension of the cost residual.

std::size_t	nu_
	Control dimension.

std::shared_ptr< StateAbstract >	state_
	Model of the state.

VectorXs	u_lb_
	Lower control limits.

VectorXs	u_ub_
	Upper control limits.

VectorXs	unone_
	Neutral state.

Additional Inherited Members
Protected Member Functions inherited from ActionModelAbstractTpl< _Scalar >
void	update_has_control_limits ()
	Update the status of the control limits (i.e. if there are defined limits)

Detailed Description

template<typename _Scalar>
class crocoddyl::ActionModelUnicycleTpl< _Scalar >

Definition at line 19 of file unicycle.hpp.

Member Function Documentation

◆ calc() [1/2]

virtual void calc	(	const std::shared_ptr< ActionDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

overridevirtual

Compute the next state and cost value.

Parameters

[in]	data	Action data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActionModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

virtual void calc	(	const std::shared_ptr< ActionDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

overridevirtual

Compute the total cost value for nodes that depends only on the state.

It updates the total cost and the next state is not computed as it is not expected to change. This function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Action data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ calcDiff() [1/2]

virtual void calcDiff	(	const std::shared_ptr< ActionDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

overridevirtual

Compute the derivatives of the dynamics and cost functions.

It computes the partial derivatives of the dynamical system and the cost function. It assumes that calc() has been run first. This function builds a linear-quadratic approximation of the action model (i.e. dynamical system and cost function).

Parameters

[in]	data	Action data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActionModelAbstractTpl< _Scalar >.

◆ calcDiff() [2/2]

virtual void calcDiff	(	const std::shared_ptr< ActionDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

overridevirtual

Compute the derivatives of the cost functions with respect to the state only.

It updates the derivatives of the cost function with respect to the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Action data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ createData()

virtual std::shared_ptr<ActionDataAbstract> createData ( )

overridevirtual

Create the action data.

Returns: the action data

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ cast()

ActionModelUnicycleTpl<NewScalar> cast ( ) const

Cast the unicycle model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters

NewScalar The new scalar type to cast to.

Returns: ActionModelUnicycleTpl<NewScalar> A unicycle model with the new scalar type.

◆ print()

virtual void print ( std::ostream & os ) const

overridevirtual

Print relevant information of the unicycle model.

Parameters

[out] os Output stream object

Reimplemented from ActionModelAbstractTpl< _Scalar >.

The documentation for this class was generated from the following file:

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/actions/unicycle.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename _Scalar> class crocoddyl::ActionModelUnicycleTpl< _Scalar >

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ cast()

◆ print()

template<typename _Scalar>
class crocoddyl::ActionModelUnicycleTpl< _Scalar >