Inheritance diagram for ActionModelCodeGenTpl< _Scalar >:

Collaboration diagram for ActionModelCodeGenTpl< _Scalar >:

Public Types
typedef ActionDataAbstractTpl< Scalar >	ActionDataAbstract

typedef ActionDataAbstractTpl< ADScalar >	ADActionDataAbstract

typedef ActionDataCodeGenTpl< ADScalar >	ADActionDataCodeGen

typedef crocoddyl::ActionModelAbstractTpl< ADScalar >	ADBase

typedef CppAD::ADFun< CGScalar >	ADFun

typedef MathBaseTpl< ADScalar >::Matrix3s	ADMatrix3s

typedef MathBaseTpl< ADScalar >::MatrixXs	ADMatrixXs

typedef CppAD::AD< CGScalar >	ADScalar

typedef MathBaseTpl< ADScalar >::Vector3s	ADVector3s

typedef MathBaseTpl< ADScalar >::VectorXs	ADVectorXs

typedef ActionModelAbstractTpl< Scalar >	Base

typedef CppAD::cg::CG< Scalar >	CGScalar

typedef ActionDataCodeGenTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >::MatrixXs	MatrixXs

typedef _Scalar	Scalar

typedef MathBaseTpl< Scalar >::VectorXs	VectorXs

Public Types inherited from ActionModelAbstractTpl< _Scalar >
typedef ActionDataAbstractTpl< Scalar >	ActionDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ActionModelCodeGenTpl (boost::shared_ptr< ADBase > admodel, boost::shared_ptr< Base > model, const std::string &library_name, const std::size_t n_env=0, std::function< void(boost::shared_ptr< ADBase >, const Eigen::Ref< const ADVectorXs > &)> fn_record_env=empty_record_env, const std::string &function_name_calc="calc", const std::string &function_name_calcDiff="calcDiff")

void	calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the next state and cost value. More...

void	calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the derivatives of the dynamics and cost functions. More...

void	collect_calcDiffout ()

void	collect_calcout ()

void	compileLib ()

boost::shared_ptr< ActionDataAbstract >	createData ()
	Create the action data. More...

bool	existLib () const

Eigen::DenseIndex	getInputDimension () const
	Dimension of the input vector.

void	initLib ()

void	loadLib (const bool generate_if_not_exist=true)

typedef	PINOCCHIO_EIGEN_PLAIN_ROW_MAJOR_TYPE (ADMatrixXs) RowADMatrixXs

void	recordCalc ()

void	recordCalcDiff ()

void	set_env (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &env_val) const

Public Member Functions inherited from ActionModelAbstractTpl< _Scalar >
	ActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0)
	Initialize the action model. More...

virtual void	calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the total cost value for nodes that depends only on the state. More...

virtual void	calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the derivatives of the cost functions with respect to the state only. More...

virtual bool	checkData (const boost::shared_ptr< ActionDataAbstract > &data)
	Checks that a specific data belongs to this model.

bool	get_has_control_limits () const
	Indicates if there are defined control limits.

std::size_t	get_nr () const
	Return the dimension of the cost-residual vector.

std::size_t	get_nu () const
	Return the dimension of the control input.

const boost::shared_ptr< StateAbstract > &	get_state () const
	Return the state.

const VectorXs &	get_u_lb () const
	Return the control lower bound.

const VectorXs &	get_u_ub () const
	Return the control upper bound.

virtual void	print (std::ostream &os) const
	Print relevant information of the action model. More...

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))
	Computes the quasic static commands. More...

VectorXs	quasiStatic_x (const boost::shared_ptr< ActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))

void	set_u_lb (const VectorXs &u_lb)
	Modify the control lower bounds.

void	set_u_ub (const VectorXs &u_ub)
	Modify the control upper bounds.

Static Public Member Functions
static void	empty_record_env (boost::shared_ptr< ADBase >, const Eigen::Ref< const ADVectorXs > &)

Protected Attributes
ADFun	ad_calc

ADFun	ad_calcDiff

ADVectorXs	ad_calcDiffout

ADVectorXs	ad_calcout

boost::shared_ptr< ADActionDataAbstract >	ad_data

boost::shared_ptr< ADBase >	ad_model

ADVectorXs	ad_X

ADVectorXs	ad_X2

bool	build_forward
	Options to generate or not the source code for the evaluation function.

std::unique_ptr< CppAD::cg::GenericModel< Scalar > >	calcDiffFun_ptr

std::unique_ptr< CppAD::cg::ModelCSourceGen< Scalar > >	calcDiffgen_ptr

std::unique_ptr< CppAD::cg::GenericModel< Scalar > >	calcFun_ptr

std::unique_ptr< CppAD::cg::ModelCSourceGen< Scalar > >	calcgen_ptr

std::unique_ptr< CppAD::cg::DynamicLib< Scalar > >	dynamicLib_ptr

std::unique_ptr< CppAD::cg::DynamicModelLibraryProcessor< Scalar > >	dynamicLibManager_ptr

std::function< void(boost::shared_ptr< ADBase >, const Eigen::Ref< const ADVectorXs > &)>	fn_record_env
	A function that updates the environment variables before starting record.

const std::string	function_name_calc
	Name of the function.

const std::string	function_name_calcDiff

bool	has_control_limits_
	Indicates whether any of the control limits is finite.

std::unique_ptr< CppAD::cg::ModelLibraryCSourceGen< Scalar > >	libcgen_ptr

const std::string	library_name
	Name of the library.

boost::shared_ptr< Base >	model
	< Neutral state

const std::size_t	n_env
	Size of the environment variables.

std::size_t	nr_
	< Indicates whether any of the control limits

std::size_t	nu_
	< Dimension of the cost residual

boost::shared_ptr< StateAbstract >	state_
	< Control dimension

VectorXs	u_lb_
	< Model of the state

VectorXs	u_ub_
	< Lower control limits

VectorXs	unone_
	< Upper control limits

Protected Attributes inherited from ActionModelAbstractTpl< _Scalar >
bool	has_control_limits_
	Indicates whether any of the control limits is finite.

std::size_t	nr_
	Dimension of the cost residual.

std::size_t	nu_
	Control dimension.

boost::shared_ptr< StateAbstract >	state_
	Model of the state.

VectorXs	u_lb_
	Lower control limits.

VectorXs	u_ub_
	Upper control limits.

VectorXs	unone_
	Neutral state.

Additional Inherited Members
Public Attributes inherited from ActionModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Member Functions inherited from ActionModelAbstractTpl< _Scalar >
void	update_has_control_limits ()
	Update the status of the control limits (i.e. if there are defined limits)

Detailed Description

template<typename _Scalar>
class crocoddyl::ActionModelCodeGenTpl< _Scalar >

Definition at line 24 of file action-base.hpp.

Member Function Documentation

◆ calc()

void calc	(	const boost::shared_ptr< ActionDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

inlinevirtual

Compute the next state and cost value.

Parameters

[in]	data	Action data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActionModelAbstractTpl< _Scalar >.

Definition at line 191 of file action-base.hpp.

◆ calcDiff()

void calcDiff	(	const boost::shared_ptr< ActionDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

inlinevirtual

Compute the derivatives of the dynamics and cost functions.

It computes the partial derivatives of the dynamical system and the cost function. It assumes that calc() has been run first. This function builds a linear-quadratic approximation of the action model (i.e. dynamical system and cost function).

Parameters

[in]	data	Action data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActionModelAbstractTpl< _Scalar >.

Definition at line 204 of file action-base.hpp.

◆ createData()

boost::shared_ptr<ActionDataAbstract> createData ( )

inlinevirtual

Create the action data.

Returns: the action data

Reimplemented from ActionModelAbstractTpl< _Scalar >.

Definition at line 216 of file action-base.hpp.

The documentation for this class was generated from the following file:

include/crocoddyl/core/codegen/action-base.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename _Scalar> class crocoddyl::ActionModelCodeGenTpl< _Scalar >

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

template<typename _Scalar>
class crocoddyl::ActionModelCodeGenTpl< _Scalar >