Crocoddyl
 
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control.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
5// Heriot-Watt University
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
11#define CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
12
13#include "crocoddyl/core/fwd.hpp"
14#include "crocoddyl/core/residual-base.hpp"
15
16namespace crocoddyl {
17
34template <typename _Scalar>
36 public:
37 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
38 CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelControlTpl)
39
40 typedef _Scalar Scalar;
47 typedef typename MathBase::VectorXs VectorXs;
48 typedef typename MathBase::MatrixXs MatrixXs;
49
58 ResidualModelControlTpl(std::shared_ptr<typename Base::StateAbstract> state,
59 const VectorXs& uref);
60
69 ResidualModelControlTpl(std::shared_ptr<typename Base::StateAbstract> state,
70 const std::size_t nu);
71
81 std::shared_ptr<typename Base::StateAbstract> state);
82 virtual ~ResidualModelControlTpl() = default;
83
91 virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
92 const Eigen::Ref<const VectorXs>& x,
93 const Eigen::Ref<const VectorXs>& u) override;
94
99 virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
100 const Eigen::Ref<const VectorXs>& x) override;
101
109 virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
110 const Eigen::Ref<const VectorXs>& x,
111 const Eigen::Ref<const VectorXs>& u) override;
112
116 virtual std::shared_ptr<ResidualDataAbstract> createData(
117 DataCollectorAbstract* const data) override;
118
131 virtual void calcCostDiff(
132 const std::shared_ptr<CostDataAbstract>& cdata,
133 const std::shared_ptr<ResidualDataAbstract>& rdata,
134 const std::shared_ptr<ActivationDataAbstract>& adata,
135 const bool update_u = true) override;
136
146 template <typename NewScalar>
148
152 const VectorXs& get_reference() const;
153
157 void set_reference(const VectorXs& reference);
158
164 virtual void print(std::ostream& os) const override;
165
166 protected:
167 using Base::nu_;
168 using Base::state_;
169
170 private:
171 VectorXs uref_;
172};
173
174} // namespace crocoddyl
175
176/* --- Details -------------------------------------------------------------- */
177/* --- Details -------------------------------------------------------------- */
178/* --- Details -------------------------------------------------------------- */
179#include "crocoddyl/core/residuals/control.hxx"
180
181CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelControlTpl)
182
183#endif // CROCODDYL_CORE_RESIDUALS_CONTROL_HPP_
Abstract class for residual models.
std::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
Define a control residual.
Definition control.hpp:35
virtual void calc(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
Compute the residual vector for nodes that depends only on the state.
ResidualModelControlTpl(std::shared_ptr< typename Base::StateAbstract > state, const VectorXs &uref)
Initialize the control residual model.
ResidualModelControlTpl< NewScalar > cast() const
Cast the control residual model to a different scalar type.
virtual void calcDiff(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
Compute the derivatives of the control residual.
virtual std::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data) override
Create the control residual data.
void set_reference(const VectorXs &reference)
Modify the reference control vector.
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
Compute the derivative of the control-cost function.
ResidualModelControlTpl(std::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu)
Initialize the control residual model.
ResidualModelControlTpl(std::shared_ptr< typename Base::StateAbstract > state)
Initialize the control residual model.
virtual void calc(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
Compute the control residual.
virtual void print(std::ostream &os) const override
Print relevant information of the control residual.
const VectorXs & get_reference() const
Return the reference control vector.