unicycle.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_ACTIONS_UNICYCLE_HPP_
#define CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_
 
#include "crocoddyl/core/action-base.hpp"
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/states/euclidean.hpp"
 
namespace crocoddyl {
template <typename _Scalar>
class ActionModelUnicycleTpl : public ActionModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ActionModelBase, ActionModelUnicycleTpl)
 
  typedef _Scalar Scalar;
  typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract;
  typedef ActionModelAbstractTpl<Scalar> Base;
  typedef ActionDataUnicycleTpl<Scalar> Data;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::Vector2s Vector2s;
 
  ActionModelUnicycleTpl();
  virtual ~ActionModelUnicycleTpl() = 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>
  ActionModelUnicycleTpl<NewScalar> cast() const;
 
  virtual bool checkData(
      const std::shared_ptr<ActionDataAbstract>& data) override;
 
  const Vector2s& get_cost_weights() const;
  void set_cost_weights(const Vector2s& weights);
 
  Scalar get_dt() const;
  void set_dt(const Scalar dt);
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::nu_;     
  using Base::state_;  
 
 private:
  Vector2s cost_weights_;
  Scalar dt_;
};
 
template <typename _Scalar>
struct ActionDataUnicycleTpl : public ActionDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActionDataAbstractTpl<Scalar> Base;
  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;
 
  template <template <typename Scalar> class Model>
  explicit ActionDataUnicycleTpl(Model<Scalar>* const model) : Base(model) {
    Fx.diagonal().array() = Scalar(1.);
  }
  virtual ~ActionDataUnicycleTpl() = default;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/actions/unicycle.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActionModelUnicycleTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ActionDataUnicycleTpl)
 
#endif  // CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_