Inheritance 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 (std::shared_ptr< ADBase > admodel, std::shared_ptr< Base > model, const std::string &library_name, const std::size_t n_env=0, std::function< void(std::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 std::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)

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

void	collect_calcDiffout ()

void	collect_calcout ()

void	compileLib ()

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

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 std::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &env_val) const

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

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

virtual void	calc (const std::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
	Compute the next state and cost value.

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

virtual void	calcDiff (const std::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
	Compute the derivatives of the dynamics and cost functions.

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

virtual const VectorXs &	get_g_lb () const
	Return the lower bound of the inequality constraints.

virtual const VectorXs &	get_g_ub () const
	Return the upper bound of the inequality constraints.

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

virtual std::size_t	get_ng () const
	Return the number of inequality constraints.

virtual std::size_t	get_ng_T () const
	Return the number of inequality terminal constraints.

virtual std::size_t	get_nh () const
	Return the number of equality constraints.

virtual std::size_t	get_nh_T () const
	Return the number of equality terminal constraints.

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 std::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.

virtual void	quasiStatic (const std::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.

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

void	set_g_lb (const VectorXs &g_lb)
	Modify the lower bound of the inequality constraints.

void	set_g_ub (const VectorXs &g_ub)
	Modify the upper bound of the inequality constraints.

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 (std::shared_ptr< ADBase >, const Eigen::Ref< const ADVectorXs > &)

Protected Attributes
ADFun	ad_calc

ADFun	ad_calcDiff

ADVectorXs	ad_calcDiffout

ADVectorXs	ad_calcout

std::shared_ptr< ADActionDataAbstract >	ad_data

std::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(std::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_

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

const std::string	library_name
	Name of the library.

std::shared_ptr< Base >	model
	< Upper control limits

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

std::size_t	nr_

std::size_t	nu_
	< Dimension of the cost residual

std::shared_ptr< StateAbstract >	state_
	< Control dimension

VectorXs	u_lb_
	< Model of the state

VectorXs	u_ub_
	< Lower control limits

Protected Attributes inherited from ActionModelAbstractTpl< _Scalar >
VectorXs	g_lb_
	Lower bound of the inequality constraints.

VectorXs	g_ub_
	Lower bound of the inequality constraints.

bool	has_control_limits_

std::size_t	ng_
	Number of inequality constraints.

std::size_t	ng_T_
	Number of inequality terminal constraints.

std::size_t	nh_
	Number of equality constraints.

std::size_t	nh_T_
	Number of equality terminal constraints.

std::size_t	nr_
	Dimension of the cost residual.

std::size_t	nu_
	Control dimension.

std::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 25 of file action-base.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

typedef _Scalar Scalar

Definition at line 27 of file action-base.hpp.

◆ Base

template<typename _Scalar >

typedef ActionModelAbstractTpl<Scalar> Base

Definition at line 28 of file action-base.hpp.

◆ Data

template<typename _Scalar >

typedef ActionDataCodeGenTpl<Scalar> Data

Definition at line 29 of file action-base.hpp.

◆ ActionDataAbstract

template<typename _Scalar >

typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract

Definition at line 30 of file action-base.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 31 of file action-base.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBaseTpl<Scalar>::MatrixXs MatrixXs

Definition at line 32 of file action-base.hpp.

◆ CGScalar

template<typename _Scalar >

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

Definition at line 34 of file action-base.hpp.

◆ ADScalar

template<typename _Scalar >

typedef CppAD::AD<CGScalar> ADScalar

Definition at line 35 of file action-base.hpp.

◆ ADBase

template<typename _Scalar >

typedef crocoddyl::ActionModelAbstractTpl<ADScalar> ADBase

Definition at line 36 of file action-base.hpp.

◆ ADActionDataAbstract

template<typename _Scalar >

typedef ActionDataAbstractTpl<ADScalar> ADActionDataAbstract

Definition at line 37 of file action-base.hpp.

◆ ADActionDataCodeGen

template<typename _Scalar >

typedef ActionDataCodeGenTpl<ADScalar> ADActionDataCodeGen

Definition at line 38 of file action-base.hpp.

◆ ADVectorXs

template<typename _Scalar >

typedef MathBaseTpl<ADScalar>::VectorXs ADVectorXs

Definition at line 39 of file action-base.hpp.

◆ ADMatrixXs

template<typename _Scalar >

typedef MathBaseTpl<ADScalar>::MatrixXs ADMatrixXs

Definition at line 40 of file action-base.hpp.

◆ ADVector3s

template<typename _Scalar >

typedef MathBaseTpl<ADScalar>::Vector3s ADVector3s

Definition at line 41 of file action-base.hpp.

◆ ADMatrix3s

template<typename _Scalar >

typedef MathBaseTpl<ADScalar>::Matrix3s ADMatrix3s

Definition at line 42 of file action-base.hpp.

◆ ADFun

template<typename _Scalar >

typedef CppAD::ADFun<CGScalar> ADFun

Definition at line 47 of file action-base.hpp.

Constructor & Destructor Documentation

◆ ActionModelCodeGenTpl()

template<typename _Scalar >

ActionModelCodeGenTpl	(	std::shared_ptr< ADBase >	admodel,
		std::shared_ptr< Base >	model,
		const std::string &	library_name,
		const std::size_t	n_env = `0`,
		std::function< void(std::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"`
	)

inline

Definition at line 49 of file action-base.hpp.

Member Function Documentation

◆ empty_record_env()

template<typename _Scalar >

static void empty_record_env	(	std::shared_ptr< ADBase >	,
		const Eigen::Ref< const ADVectorXs > &
	)

inlinestatic

Definition at line 77 of file action-base.hpp.

◆ recordCalc()

template<typename _Scalar >

void recordCalc ( )

inline

Definition at line 80 of file action-base.hpp.

◆ collect_calcout()

template<typename _Scalar >

void collect_calcout ( )

inline

Definition at line 95 of file action-base.hpp.

◆ collect_calcDiffout()

template<typename _Scalar >

void collect_calcDiffout ( )

inline

Definition at line 100 of file action-base.hpp.

◆ recordCalcDiff()

template<typename _Scalar >

void recordCalcDiff ( )

inline

Definition at line 121 of file action-base.hpp.

◆ initLib()

template<typename _Scalar >

void initLib ( )

inline

Definition at line 136 of file action-base.hpp.

◆ compileLib()

template<typename _Scalar >

void compileLib ( )

inline

Definition at line 163 of file action-base.hpp.

◆ existLib()

template<typename _Scalar >

bool existLib ( ) const

inline

Definition at line 171 of file action-base.hpp.

◆ loadLib()

template<typename _Scalar >

void loadLib ( const bool generate_if_not_exist = true )

inline

Definition at line 179 of file action-base.hpp.

◆ set_env()

template<typename _Scalar >

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

inline

Definition at line 199 of file action-base.hpp.

◆ calc()

template<typename _Scalar >

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

inline

Definition at line 205 of file action-base.hpp.

◆ calcDiff()

template<typename _Scalar >

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

inline

Definition at line 219 of file action-base.hpp.

◆ createData()

template<typename _Scalar >

std::shared_ptr< ActionDataAbstract > createData ( )

inlinevirtual

Create the action data.

Returns: the action data

Reimplemented from ActionModelAbstractTpl< _Scalar >.

Definition at line 232 of file action-base.hpp.

◆ getInputDimension()

template<typename _Scalar >

Eigen::DenseIndex getInputDimension ( ) const

inline

Dimension of the input vector.

Definition at line 237 of file action-base.hpp.

Member Data Documentation

◆ model

template<typename _Scalar >

std::shared_ptr<Base> model

protected

< Upper control limits

Definition at line 248 of file action-base.hpp.

◆ ad_model

template<typename _Scalar >

std::shared_ptr<ADBase> ad_model

protected

Definition at line 249 of file action-base.hpp.

◆ ad_data

template<typename _Scalar >

std::shared_ptr<ADActionDataAbstract> ad_data

protected

Definition at line 250 of file action-base.hpp.

◆ function_name_calc

template<typename _Scalar >

const std::string function_name_calc

protected

Name of the function.

Definition at line 253 of file action-base.hpp.

◆ function_name_calcDiff

template<typename _Scalar >

const std::string function_name_calcDiff

protected

Definition at line 253 of file action-base.hpp.

◆ library_name

template<typename _Scalar >

const std::string library_name

protected

Name of the library.

Definition at line 256 of file action-base.hpp.

◆ n_env

template<typename _Scalar >

const std::size_t n_env

protected

Size of the environment variables.

Definition at line 259 of file action-base.hpp.

◆ fn_record_env

template<typename _Scalar >

std::function<void(std::shared_ptr<ADBase>, const Eigen::Ref<const ADVectorXs>&)> fn_record_env

protected

A function that updates the environment variables before starting record.

Definition at line 265 of file action-base.hpp.

◆ build_forward

template<typename _Scalar >

bool build_forward

protected

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

Definition at line 269 of file action-base.hpp.

◆ ad_X

template<typename _Scalar >

ADVectorXs ad_X

protected

Definition at line 271 of file action-base.hpp.

◆ ad_X2

template<typename _Scalar >

ADVectorXs ad_X2

protected

Definition at line 271 of file action-base.hpp.

◆ ad_calcout

template<typename _Scalar >

ADVectorXs ad_calcout

protected

Definition at line 273 of file action-base.hpp.

◆ ad_calcDiffout

template<typename _Scalar >

ADVectorXs ad_calcDiffout

protected

Definition at line 274 of file action-base.hpp.

◆ ad_calc

template<typename _Scalar >

ADFun ad_calc

protected

Definition at line 276 of file action-base.hpp.

◆ ad_calcDiff

template<typename _Scalar >

ADFun ad_calcDiff

protected

Definition at line 276 of file action-base.hpp.

◆ calcgen_ptr

template<typename _Scalar >

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

protected

Definition at line 278 of file action-base.hpp.

◆ calcDiffgen_ptr

template<typename _Scalar >

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

protected

Definition at line 279 of file action-base.hpp.

◆ libcgen_ptr

template<typename _Scalar >

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

protected

Definition at line 280 of file action-base.hpp.

◆ dynamicLibManager_ptr

template<typename _Scalar >

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

protected

Definition at line 282 of file action-base.hpp.

◆ dynamicLib_ptr

template<typename _Scalar >

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

protected

Definition at line 283 of file action-base.hpp.

◆ calcFun_ptr

template<typename _Scalar >

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

protected

Definition at line 284 of file action-base.hpp.

◆ calcDiffFun_ptr

template<typename _Scalar >

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

protected

Definition at line 285 of file action-base.hpp.

◆ has_control_limits_

template<typename _Scalar >

bool has_control_limits_

protected

Indicates whether any of the control limits is finite

Definition at line 331 of file action-base.hpp.

◆ nr_

template<typename _Scalar >

std::size_t nr_

protected

< Indicates whether any of the control limits

Definition at line 320 of file action-base.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

< Dimension of the cost residual

Definition at line 319 of file action-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateAbstract> state_

protected

< Control dimension

Definition at line 325 of file action-base.hpp.

◆ u_lb_

template<typename _Scalar >

VectorXs u_lb_

protected

< Model of the state

Definition at line 329 of file action-base.hpp.

◆ u_ub_

template<typename _Scalar >

VectorXs u_ub_

protected

< Lower control limits

Definition at line 330 of file action-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/codegen/action-base.hpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ Data

◆ ActionDataAbstract

◆ VectorXs

◆ MatrixXs

◆ CGScalar

◆ ADScalar

◆ ADBase

◆ ADActionDataAbstract

◆ ADActionDataCodeGen

◆ ADVectorXs

◆ ADMatrixXs

◆ ADVector3s

◆ ADMatrix3s

◆ ADFun

Constructor & Destructor Documentation

◆ ActionModelCodeGenTpl()

Member Function Documentation

◆ empty_record_env()

◆ recordCalc()

◆ collect_calcout()

◆ collect_calcDiffout()

◆ recordCalcDiff()

◆ initLib()

◆ compileLib()

◆ existLib()

◆ loadLib()

◆ set_env()

◆ calc()

◆ calcDiff()

◆ createData()

◆ getInputDimension()

Member Data Documentation

◆ model

◆ ad_model

◆ ad_data

◆ function_name_calc

◆ function_name_calcDiff

◆ library_name

◆ n_env

◆ fn_record_env

◆ build_forward

◆ ad_X

◆ ad_X2

◆ ad_calcout

◆ ad_calcDiffout

◆ ad_calc

◆ ad_calcDiff

◆ calcgen_ptr

◆ calcDiffgen_ptr

◆ libcgen_ptr

◆ dynamicLibManager_ptr

◆ dynamicLib_ptr

◆ calcFun_ptr

◆ calcDiffFun_ptr

◆ has_control_limits_

◆ nr_

◆ nu_

◆ state_

◆ u_lb_

◆ u_ub_