Public Types | |
typedef ActionDataAbstractTpl< Scalar > | ActionDataAbstract |
typedef ActionModelAbstractTpl< Scalar > | Base |
typedef ActionDataLQRTpl< Scalar > | Data |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef _Scalar | Scalar |
typedef StateVectorTpl< Scalar > | StateVector |
typedef MathBase::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 | |
ActionModelLQRTpl (const std::size_t nx, const std::size_t nu, const bool drift_free=true) | |
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 | 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... | |
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 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... | |
virtual bool | checkData (const boost::shared_ptr< ActionDataAbstract > &data) |
Checks that a specific data belongs to this model. | |
virtual boost::shared_ptr< ActionDataAbstract > | createData () |
Create the action data. More... | |
const VectorXs & | get_f0 () const |
const MatrixXs & | get_Fu () const |
const MatrixXs & | get_Fx () const |
const VectorXs & | get_lu () const |
const MatrixXs & | get_Luu () const |
const VectorXs & | get_lx () const |
const MatrixXs & | get_Lxu () const |
const MatrixXs & | get_Lxx () const |
virtual void | print (std::ostream &os) const |
Print relevant information of the LQR model. More... | |
void | set_f0 (const VectorXs &f0) |
void | set_Fu (const MatrixXs &Fu) |
void | set_Fx (const MatrixXs &Fx) |
void | set_lu (const VectorXs &lu) |
void | set_Luu (const MatrixXs &Luu) |
void | set_lx (const VectorXs &lx) |
void | set_Lxu (const MatrixXs &Lxu) |
void | set_Lxx (const MatrixXs &Lxx) |
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... | |
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 | 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. | |
Protected Attributes | |
std::size_t | nu_ |
Control dimension. | |
boost::shared_ptr< StateAbstract > | state_ |
< Control dimension | |
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) | |
|
virtual |
Compute the next state and cost value.
[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 >.
|
virtual |
Compute the total cost value for nodes that depends only on the state.
It updates the total cost and the next state is not computed as it is not expected to change. This function is used in the terminal nodes of an optimal control problem.
[in] | data | Action data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
Reimplemented from ActionModelAbstractTpl< _Scalar >.
|
virtual |
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).
[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 >.
|
virtual |
Compute the derivatives of the cost functions with respect to the state only.
It updates the derivatives of the cost function with respect to the state only. This function is used in the terminal nodes of an optimal control problem.
[in] | data | Action data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
Reimplemented from ActionModelAbstractTpl< _Scalar >.
|
virtual |
Create the action data.
Reimplemented from ActionModelAbstractTpl< _Scalar >.
|
virtual |
Print relevant information of the LQR model.
[out] | os | Output stream object |
Reimplemented from ActionModelAbstractTpl< _Scalar >.