euler.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_INTEGRATOR_EULER_HPP_
#define CROCODDYL_CORE_INTEGRATOR_EULER_HPP_
 
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/integ-action-base.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class IntegratedActionModelEulerTpl
    : public IntegratedActionModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ActionModelBase, IntegratedActionModelEulerTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef IntegratedActionModelAbstractTpl<Scalar> Base;
  typedef IntegratedActionDataEulerTpl<Scalar> Data;
  typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract;
  typedef DifferentialActionModelAbstractTpl<Scalar>
      DifferentialActionModelAbstract;
  typedef ControlParametrizationModelAbstractTpl<Scalar>
      ControlParametrizationModelAbstract;
  typedef ControlParametrizationDataAbstractTpl<Scalar>
      ControlParametrizationDataAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  IntegratedActionModelEulerTpl(
      std::shared_ptr<DifferentialActionModelAbstract> model,
      std::shared_ptr<ControlParametrizationModelAbstract> control,
      const Scalar time_step = Scalar(1e-3),
      const bool with_cost_residual = true);
 
  IntegratedActionModelEulerTpl(
      std::shared_ptr<DifferentialActionModelAbstract> model,
      const Scalar time_step = Scalar(1e-3),
      const bool with_cost_residual = true);
  virtual ~IntegratedActionModelEulerTpl() = default;
 
  virtual void calc(const std::shared_ptr<ActionDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calc(const std::shared_ptr<ActionDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) override;
 
  virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calcDiff(const std::shared_ptr<ActionDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x) override;
 
  virtual std::shared_ptr<ActionDataAbstract> createData() override;
 
  template <typename NewScalar>
  IntegratedActionModelEulerTpl<NewScalar> cast() const;
 
  virtual bool checkData(
      const std::shared_ptr<ActionDataAbstract>& data) override;
 
  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)) override;
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::control_;       
  using Base::differential_;  
  using Base::ng_;            
  using Base::nh_;            
  using Base::nu_;            
  using Base::state_;         
  using Base::time_step2_;    
  using Base::time_step_;     
  using Base::with_cost_residual_;  
};
 
template <typename _Scalar>
struct IntegratedActionDataEulerTpl
    : public IntegratedActionDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef IntegratedActionDataAbstractTpl<Scalar> Base;
  typedef DifferentialActionDataAbstractTpl<Scalar>
      DifferentialActionDataAbstract;
  typedef ControlParametrizationDataAbstractTpl<Scalar>
      ControlParametrizationDataAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  explicit IntegratedActionDataEulerTpl(Model<Scalar>* const model)
      : Base(model) {
    differential = model->get_differential()->createData();
    control = model->get_control()->createData();
    const std::size_t ndx = model->get_state()->get_ndx();
    const std::size_t nv = model->get_state()->get_nv();
    dx = VectorXs::Zero(ndx);
    da_du = MatrixXs::Zero(nv, model->get_nu());
    Lwu = MatrixXs::Zero(model->get_control()->get_nw(), model->get_nu());
  }
  virtual ~IntegratedActionDataEulerTpl() = default;
 
  std::shared_ptr<DifferentialActionDataAbstract>
      differential;  
  std::shared_ptr<ControlParametrizationDataAbstract>
      control;  
  VectorXs dx;
  MatrixXs da_du;
  MatrixXs Lwu;  
 
  using Base::cost;
  using Base::Fu;
  using Base::Fx;
  using Base::Lu;
  using Base::Luu;
  using Base::Lx;
  using Base::Lxu;
  using Base::Lxx;
  using Base::r;
  using Base::xnext;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/integrator/euler.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
    crocoddyl::IntegratedActionModelEulerTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
    crocoddyl::IntegratedActionDataEulerTpl)
 
#endif  // CROCODDYL_CORE_INTEGRATOR_EULER_HPP_