IntegratedActionModelAbstractTpl< _Scalar > Class Template Reference

Abstract class for an integrated action model. More...

#include <crocoddyl/core/integ-action-base.hpp>

Public Types
typedef ActionDataAbstractTpl< Scalar >	ActionDataAbstract
typedef ActionModelAbstractTpl< Scalar >	Base
typedef ControlParametrizationModelAbstractTpl< Scalar >	ControlParametrizationModelAbstract
typedef IntegratedActionDataAbstractTpl< Scalar >	Data
typedef DifferentialActionModelAbstractTpl< Scalar >	DifferentialActionModelAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	IntegratedActionModelAbstractTpl (boost::shared_ptr< DifferentialActionModelAbstract > model, boost::shared_ptr< ControlParametrizationModelAbstract > control, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true)
	Initialize the integrator. More...
	IntegratedActionModelAbstractTpl (boost::shared_ptr< DifferentialActionModelAbstract > model, const Scalar time_step=Scalar(1e-3), const bool with_cost_residual=true)
	Initialize the integrator. More...
virtual boost::shared_ptr< ActionDataAbstract >	createData ()
	Create the integrator data. More...
	DEPRECATED ("The DifferentialActionModel should be set at construction time", void set_differential(boost::shared_ptr< DifferentialActionModelAbstract > model))
const boost::shared_ptr< ControlParametrizationModelAbstract > &	get_control () const
	Return the control parametrization model associated to this integrated action model.
const boost::shared_ptr< DifferentialActionModelAbstract > &	get_differential () const
	Return the differential action model associated to this integrated action model.
const Scalar	get_dt () const
	Return the time step used for the integration.
void	set_dt (const Scalar dt)
	Set the time step for the integration.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Member Functions
void	init ()
	< Neutral state

Protected Attributes
boost::shared_ptr< ControlParametrizationModelAbstract >	control_
	Model of the control parametrization.
boost::shared_ptr< DifferentialActionModelAbstract >	differential_
	Differential action model that is integrated.
bool	has_control_limits_
	Indicates whether any of the control limits is finite.
std::size_t	nr_
	< Indicates whether any of the control limits are active
std::size_t	nu_
	< Dimension of the cost residual
boost::shared_ptr< StateAbstract >	state_
	< Dimension of the control
Scalar	time_step2_
	Square of the time step used for integration.
Scalar	time_step_
	Time step used for integration.
VectorXs	u_lb_
	< Model of the state
VectorXs	u_ub_
	< Lower control limits
VectorXs	unone_
	< Upper control limits
bool	with_cost_residual_
	Flag indicating whether a cost residual is used.

Detailed Description

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

Abstract class for an integrated action model.

An integrated action model is a special kind of action model that is obtained by applying a numerical integration scheme to a differential (i.e., continuous time) action model. Different integration schemes can be implemented inheriting from this base class.

The numerical integration introduces also the possibility to parametrize the control trajectory inside an integration step, for instance using polynomials. This requires introducing some notation to clarify the difference between the control inputs of the differential model and the control inputs to the integrated model. We have decided to use \(\mathbf{w}\) to refer to the control inputs of the differential model and \(\mathbf{u}\) for the control inputs of the integrated action model.

See also

calc(), calcDiff(), createData()

Definition at line 55 of file fwd.hpp.

Constructor & Destructor Documentation

IntegratedActionModelAbstractTpl() [1/2]

IntegratedActionModelAbstractTpl	(	boost::shared_ptr< DifferentialActionModelAbstract >	model,
		boost::shared_ptr< ControlParametrizationModelAbstract >	control,
		const Scalar	time_step = Scalar(1e-3),
		const bool	with_cost_residual = true
	)

Initialize the integrator.

Parameters

[in]	model	Differential action model
[in]	control	Control parametrization
[in]	time_step	Step time (default 1e-3)
[in]	with_cost_residual	Compute cost residual (default true)

IntegratedActionModelAbstractTpl() [2/2]

IntegratedActionModelAbstractTpl	(	boost::shared_ptr< DifferentialActionModelAbstract >	model,
		const Scalar	time_step = Scalar(1e-3),
		const bool	with_cost_residual = true
	)

Initialize the integrator.

This initialization uses ControlParametrizationPolyZeroTpl for the control parametrization.

Parameters

[in]	model	Differential action model
[in]	time_step	Step time (default 1e-3)
[in]	with_cost_residual	Compute cost residual (default true)

Member Function Documentation

createData()

virtual boost::shared_ptr<ActionDataAbstract> createData ( )

virtual

Create the integrator data.

Returns

the sympletic integrator data

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

• include/crocoddyl/core/fwd.hpp
• include/crocoddyl/core/integ-action-base.hpp