action-base.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2021, LAAS-CNRS, University of Edinburgh, University of Oxford
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_ACTION_BASE_HPP_
#define CROCODDYL_CORE_ACTION_BASE_HPP_
 
#include <stdexcept>
#include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>
 
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/state-base.hpp"
#include "crocoddyl/core/utils/math.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ActionModelAbstractTpl {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract;
  typedef StateAbstractTpl<Scalar> StateAbstract;
  typedef typename MathBase::VectorXs VectorXs;
 
  ActionModelAbstractTpl(boost::shared_ptr<StateAbstract> state, const std::size_t nu, const std::size_t nr = 0);
  virtual ~ActionModelAbstractTpl();
 
  virtual void calc(const boost::shared_ptr<ActionDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) = 0;
 
  virtual void calc(const boost::shared_ptr<ActionDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
 
  virtual void calcDiff(const boost::shared_ptr<ActionDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) = 0;
 
  virtual void calcDiff(const boost::shared_ptr<ActionDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
 
  virtual boost::shared_ptr<ActionDataAbstract> createData();
 
  virtual bool checkData(const boost::shared_ptr<ActionDataAbstract>& data);
 
  virtual void quasiStatic(const boost::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));
 
  VectorXs quasiStatic_x(const boost::shared_ptr<ActionDataAbstract>& data, const VectorXs& x,
                         const std::size_t maxiter = 100, const Scalar tol = Scalar(1e-9));
 
  std::size_t get_nu() const;
 
  std::size_t get_nr() const;
 
  const boost::shared_ptr<StateAbstract>& get_state() const;
 
  const VectorXs& get_u_lb() const;
 
  const VectorXs& get_u_ub() const;
 
  bool get_has_control_limits() const;
 
  void set_u_lb(const VectorXs& u_lb);
 
  void set_u_ub(const VectorXs& u_ub);
 
  template <class Scalar>
  friend std::ostream& operator<<(std::ostream& os, const ActionModelAbstractTpl<Scalar>& model);
 
  virtual void print(std::ostream& os) const;
 
 protected:
  std::size_t nu_;                          
  std::size_t nr_;                          
  boost::shared_ptr<StateAbstract> state_;  
  VectorXs unone_;                          
  VectorXs u_lb_;                           
  VectorXs u_ub_;                           
  bool has_control_limits_;                 
 
  void update_has_control_limits();
};
 
template <typename _Scalar>
struct ActionDataAbstractTpl {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  template <template <typename Scalar> class Model>
  explicit ActionDataAbstractTpl(Model<Scalar>* const model)
      : cost(Scalar(0.)),
        xnext(model->get_state()->get_nx()),
        Fx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
        Fu(model->get_state()->get_ndx(), model->get_nu()),
        r(model->get_nr()),
        Lx(model->get_state()->get_ndx()),
        Lu(model->get_nu()),
        Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
        Lxu(model->get_state()->get_ndx(), model->get_nu()),
        Luu(model->get_nu(), model->get_nu()) {
    xnext.setZero();
    Fx.setZero();
    Fu.setZero();
    r.setZero();
    Lx.setZero();
    Lu.setZero();
    Lxx.setZero();
    Lxu.setZero();
    Luu.setZero();
  }
  virtual ~ActionDataAbstractTpl() {}
 
  Scalar cost;     
  VectorXs xnext;  
  MatrixXs Fx;     
  MatrixXs Fu;     
  VectorXs r;      
  VectorXs Lx;     
  VectorXs Lu;     
  MatrixXs Lxx;    
  MatrixXs Lxu;    
  MatrixXs Luu;    
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/action-base.hxx"
 
#endif  // CROCODDYL_CORE_ACTION_BASE_HPP_