state.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, New York University,
//                          Max Planck Gesellschaft,
//                          University of Edinburgh, Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_NUMDIFF_STATE_HPP_
#define CROCODDYL_CORE_NUMDIFF_STATE_HPP_
 
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/state-base.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class StateNumDiffTpl : public StateAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(StateBase, StateNumDiffTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef StateAbstractTpl<_Scalar> Base;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  explicit StateNumDiffTpl(std::shared_ptr<Base> state);
  virtual ~StateNumDiffTpl();
 
  virtual VectorXs zero() const override;
  virtual VectorXs rand() const override;
  virtual void diff(const Eigen::Ref<const VectorXs>& x0,
                    const Eigen::Ref<const VectorXs>& x1,
                    Eigen::Ref<VectorXs> dxout) const override;
  virtual void integrate(const Eigen::Ref<const VectorXs>& x,
                         const Eigen::Ref<const VectorXs>& dx,
                         Eigen::Ref<VectorXs> xout) const override;
  virtual void Jdiff(const Eigen::Ref<const VectorXs>& x0,
                     const Eigen::Ref<const VectorXs>& x1,
                     Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond,
                     Jcomponent firstsecond = both) const override;
  virtual void Jintegrate(const Eigen::Ref<const VectorXs>& x,
                          const Eigen::Ref<const VectorXs>& dx,
                          Eigen::Ref<MatrixXs> Jfirst,
                          Eigen::Ref<MatrixXs> Jsecond,
                          const Jcomponent firstsecond = both,
                          const AssignmentOp op = setto) const override;
 
  virtual void JintegrateTransport(
      const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& dx,
      Eigen::Ref<MatrixXs> Jin,
      const Jcomponent firstsecond = both) const override;
 
  template <typename NewScalar>
  StateNumDiffTpl<NewScalar> cast() const;
 
  const Scalar get_disturbance() const;
 
  void set_disturbance(const Scalar disturbance);
 
  virtual void print(std::ostream& os) const override;
 
 private:
  std::shared_ptr<Base>
      state_;     
  Scalar e_jac_;  
 
 protected:
  using Base::has_limits_;
  using Base::lb_;
  using Base::ndx_;
  using Base::nq_;
  using Base::nv_;
  using Base::nx_;
  using Base::ub_;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/numdiff/state.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::StateNumDiffTpl)
 
#endif  // CROCODDYL_CORE_NUMDIFF_STATE_HPP_