9 #ifndef CROCODDYL_CORE_ACTUATION_BASE_HPP_
10 #define CROCODDYL_CORE_ACTUATION_BASE_HPP_
13 #include <boost/shared_ptr.hpp>
14 #include <boost/make_shared.hpp>
16 #include "crocoddyl/core/fwd.hpp"
17 #include "crocoddyl/core/mathbase.hpp"
18 #include "crocoddyl/core/state-base.hpp"
19 #include "crocoddyl/core/utils/exception.hpp"
38 template <
typename _Scalar>
41 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
43 typedef _Scalar Scalar;
47 typedef typename MathBase::VectorXs VectorXs;
48 typedef typename MathBase::MatrixXs MatrixXs;
67 virtual void calc(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
68 const Eigen::Ref<const VectorXs>& u) = 0;
79 void calc(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
88 virtual void calcDiff(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
89 const Eigen::Ref<const VectorXs>& u) = 0;
100 void calcDiff(
const boost::shared_ptr<ActuationDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
107 virtual boost::shared_ptr<ActuationDataAbstract>
createData();
112 std::size_t
get_nu()
const;
117 const boost::shared_ptr<StateAbstract>&
get_state()
const;
122 template <
class Scalar>
130 virtual void print(std::ostream& os)
const;
137 template <
typename _Scalar>
139 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
141 typedef _Scalar Scalar;
143 typedef typename MathBase::VectorXs VectorXs;
144 typedef typename MathBase::MatrixXs MatrixXs;
146 template <
template <
typename Scalar>
class Model>
148 :
tau(model->get_state()->get_nv()),
149 dtau_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
150 dtau_du(model->get_state()->get_nv(), model->get_nu()) {
167 #include "crocoddyl/core/actuation-base.hxx"
169 #endif // CROCODDYL_CORE_ACTUATION_BASE_HPP_