control.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
#define CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
 
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/residual-base.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ResidualModelControlTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelControlTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef CostDataAbstractTpl<Scalar> CostDataAbstract;
  typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ResidualModelControlTpl(std::shared_ptr<typename Base::StateAbstract> state,
                          const VectorXs& uref);
 
  ResidualModelControlTpl(std::shared_ptr<typename Base::StateAbstract> state,
                          const std::size_t nu);
 
  explicit ResidualModelControlTpl(
      std::shared_ptr<typename Base::StateAbstract> state);
  virtual ~ResidualModelControlTpl() = default;
 
  virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) override;
 
  virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) override;
 
  virtual std::shared_ptr<ResidualDataAbstract> createData(
      DataCollectorAbstract* const data) override;
 
  virtual void calcCostDiff(
      const std::shared_ptr<CostDataAbstract>& cdata,
      const std::shared_ptr<ResidualDataAbstract>& rdata,
      const std::shared_ptr<ActivationDataAbstract>& adata,
      const bool update_u = true) override;
 
  template <typename NewScalar>
  ResidualModelControlTpl<NewScalar> cast() const;
 
  const VectorXs& get_reference() const;
 
  void set_reference(const VectorXs& reference);
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::nu_;
  using Base::state_;
 
 private:
  VectorXs uref_;  
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/residuals/control.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelControlTpl)
 
#endif  // CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_