Abstract class for an integrated action model. More...

#include <integ-action-base.hpp>

Inheritance diagram for IntegratedActionModelAbstractTpl< _Scalar >:

Public Types
typedef ActionDataAbstractTpl< Scalar >	ActionDataAbstract

typedef ActionModelAbstractTpl< Scalar >	Base

typedef ControlParametrizationModelAbstractTpl< Scalar >	ControlParametrizationModelAbstract

typedef IntegratedActionDataAbstractTpl< Scalar >	Data

typedef DifferentialActionModelAbstractTpl< Scalar >	DifferentialActionModelAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

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
	IntegratedActionModelAbstractTpl (std::shared_ptr< DifferentialActionModelAbstract > model, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true)
	Initialize the integrator.

	IntegratedActionModelAbstractTpl (std::shared_ptr< DifferentialActionModelAbstract > model, std::shared_ptr< ControlParametrizationModelAbstract > control, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true)
	Initialize the integrator.

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

	DEPRECATED ("The DifferentialActionModel should be set at construction time", void set_differential(std::shared_ptr< DifferentialActionModelAbstract > model))

const std::shared_ptr< ControlParametrizationModelAbstract > &	get_control () const
	Return the control parametrization model associated to this integrated action model.

const std::shared_ptr< DifferentialActionModelAbstract > &	get_differential () const
	Return the differential action model associated to this integrated action model.

const Scalar	get_dt () const
	Return the time step used for the integration.

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

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

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

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

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

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

void	set_dt (const Scalar dt)
	Set the time step for the integration.

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

	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.

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

virtual void	calc (const std::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
	Compute the next state and cost value.

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

virtual void	calcDiff (const std::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
	Compute the derivatives of the dynamics and cost functions.

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

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

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	print (std::ostream &os) const
	Print relevant information of the action model.

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.

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 Member Functions
	IntegratedActionModelAbstractTpl ()
	< Upper control limits

void	init ()

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)

Protected Attributes
std::shared_ptr< ControlParametrizationModelAbstract >	control_
	Model of the control parametrization.

std::shared_ptr< DifferentialActionModelAbstract >	differential_
	Differential action model that is integrated.

bool	has_control_limits_

std::size_t	nr_

std::size_t	nu_
	< Dimension of the cost residual

std::shared_ptr< StateAbstract >	state_
	< Dimension of the control

Scalar	time_step2_
	Square of the time step used for integration.

Scalar	time_step_
	Time step used for integration.

VectorXs	u_lb_
	< Model of the state

VectorXs	u_ub_
	< Lower control limits

bool	with_cost_residual_
	Flag indicating whether a cost residual is used.

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.

Detailed Description

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

Abstract class for an integrated action model.

An integrated action model is a special kind of action model that is obtained by applying a numerical integration scheme to a differential (i.e., continuous time) action model. Different integration schemes can be implemented inheriting from this base class.

The numerical integration introduces also the possibility to parametrize the control trajectory inside an integration step, for instance using polynomials. This requires introducing some notation to clarify the difference between the control inputs of the differential model and the control inputs to the integrated model. We have decided to use \(\mathbf{w}\) to refer to the control inputs of the differential model and \(\mathbf{u}\) for the control inputs of the integrated action model.

See also: calc(), calcDiff(), createData()

Definition at line 41 of file integ-action-base.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 47 of file integ-action-base.hpp.

◆ Base

template<typename _Scalar >

typedef ActionModelAbstractTpl<Scalar> Base

Definition at line 48 of file integ-action-base.hpp.

◆ Data

template<typename _Scalar >

typedef IntegratedActionDataAbstractTpl<Scalar> Data

Definition at line 49 of file integ-action-base.hpp.

◆ ActionDataAbstract

template<typename _Scalar >

typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract

Definition at line 50 of file integ-action-base.hpp.

◆ DifferentialActionModelAbstract

template<typename _Scalar >

typedef DifferentialActionModelAbstractTpl<Scalar> DifferentialActionModelAbstract

Definition at line 52 of file integ-action-base.hpp.

◆ ControlParametrizationModelAbstract

template<typename _Scalar >

typedef ControlParametrizationModelAbstractTpl<Scalar> ControlParametrizationModelAbstract

Definition at line 54 of file integ-action-base.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 55 of file integ-action-base.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 56 of file integ-action-base.hpp.

Constructor & Destructor Documentation

◆ IntegratedActionModelAbstractTpl() [1/3]

template<typename _Scalar >

IntegratedActionModelAbstractTpl	(	std::shared_ptr< DifferentialActionModelAbstract >	model,
		std::shared_ptr< ControlParametrizationModelAbstract >	control,
		const Scalar	time_step = `Scalar(1e-3)`,
		const bool	with_cost_residual = `true`
	)

Initialize the integrator.

Parameters

[in]	model	Differential action model
[in]	control	Control parametrization
[in]	time_step	Step time (default 1e-3)
[in]	with_cost_residual	Compute cost residual (default true)

◆ IntegratedActionModelAbstractTpl() [2/3]

template<typename _Scalar >

IntegratedActionModelAbstractTpl	(	std::shared_ptr< DifferentialActionModelAbstract >	model,
		const Scalar	time_step = `Scalar(1e-3)`,
		const bool	with_cost_residual = `true`
	)

Initialize the integrator.

This initialization uses ControlParametrizationPolyZeroTpl for the control parametrization.

Parameters

[in]	model	Differential action model
[in]	time_step	Step time (default 1e-3)
[in]	with_cost_residual	Compute cost residual (default true)

◆ IntegratedActionModelAbstractTpl() [3/3]

template<typename _Scalar >

IntegratedActionModelAbstractTpl ( )

inlineprotected

< Upper control limits

Definition at line 162 of file integ-action-base.hpp.

Member Function Documentation

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< ActionDataAbstract > createData ( )

overridevirtual

Create the integrator data.

Returns: the sympletic integrator data

Reimplemented from ActionModelAbstractTpl< _Scalar >.

Reimplemented in IntegratedActionModelEulerTpl< _Scalar >, and IntegratedActionModelRKTpl< _Scalar >.

◆ get_ng()

template<typename _Scalar >

virtual std::size_t get_ng ( ) const

overridevirtual

Return the number of inequality constraints.

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ get_nh()

template<typename _Scalar >

virtual std::size_t get_nh ( ) const

overridevirtual

Return the number of equality constraints.

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ get_ng_T()

template<typename _Scalar >

virtual std::size_t get_ng_T ( ) const

overridevirtual

Return the number of inequality terminal constraints.

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ get_nh_T()

template<typename _Scalar >

virtual std::size_t get_nh_T ( ) const

overridevirtual

Return the number of equality terminal constraints.

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ get_g_lb()

template<typename _Scalar >

virtual const VectorXs & get_g_lb ( ) const

overridevirtual

Return the lower bound of the inequality constraints.

Reimplemented from ActionModelAbstractTpl< _Scalar >.

◆ get_g_ub()

template<typename _Scalar >

virtual const VectorXs & get_g_ub ( ) const

overridevirtual

Return the upper bound of the inequality constraints.

Reimplemented from ActionModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 46 of file integ-action-base.hpp.

◆ differential_

template<typename _Scalar >

std::shared_ptr<DifferentialActionModelAbstract> differential_

protected

Differential action model that is integrated.

Definition at line 171 of file integ-action-base.hpp.

◆ control_

template<typename _Scalar >

std::shared_ptr<ControlParametrizationModelAbstract> control_

protected

Model of the control parametrization.

Definition at line 173 of file integ-action-base.hpp.

◆ time_step_

template<typename _Scalar >

Scalar time_step_

protected

Time step used for integration.

Definition at line 175 of file integ-action-base.hpp.

◆ time_step2_

template<typename _Scalar >

Scalar time_step2_

protected

Square of the time step used for integration.

Definition at line 176 of file integ-action-base.hpp.

◆ with_cost_residual_

template<typename _Scalar >

bool with_cost_residual_

protected

Flag indicating whether a cost residual is used.

Definition at line 178 of file integ-action-base.hpp.

◆ has_control_limits_

template<typename _Scalar >

bool has_control_limits_

protected

Indicates whether any of the control limits is finite

Definition at line 340 of file action-base.hpp.

◆ nr_

template<typename _Scalar >

std::size_t nr_

protected

< Indicates whether any of the control limits are active

Definition at line 329 of file action-base.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

< Dimension of the cost residual

Definition at line 328 of file action-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateAbstract> state_

protected

< Dimension of the control

Definition at line 334 of file action-base.hpp.

◆ u_lb_

template<typename _Scalar >

VectorXs u_lb_

protected

< Model of the state

Definition at line 338 of file action-base.hpp.

◆ u_ub_

template<typename _Scalar >

VectorXs u_ub_

protected

< Lower control limits

Definition at line 339 of file action-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/integ-action-base.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ ActionDataAbstract

◆ DifferentialActionModelAbstract

◆ ControlParametrizationModelAbstract

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ IntegratedActionModelAbstractTpl() [1/3]

◆ IntegratedActionModelAbstractTpl() [2/3]

◆ IntegratedActionModelAbstractTpl() [3/3]

Member Function Documentation

◆ createData()

◆ get_ng()

◆ get_nh()

◆ get_ng_T()

◆ get_nh_T()

◆ get_g_lb()

◆ get_g_ub()

Member Data Documentation

◆ Scalar

◆ differential_

◆ control_

◆ time_step_

◆ time_step2_

◆ with_cost_residual_

◆ has_control_limits_

◆ nr_

◆ nu_

◆ state_

◆ u_lb_

◆ u_ub_