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

#include <integ-action-base.hpp>

Inheritance diagram for IntegratedActionModelAbstractTpl< _Scalar >:

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

typedef MathBaseTpl< Scalar >	MathBase

typedef StateAbstractTpl< Scalar >	StateAbstract

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.

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.

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

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

void	set_dt (const Scalar dt)
	Set the time step for the integration.

Public Member Functions inherited from ActionModelAbstractTpl< _Scalar >
	ActionModelAbstractTpl (boost::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)
	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	calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
	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)=0
	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.

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_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.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Public Attributes inherited from ActionModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Member Functions
void	init ()
	< Neutral state

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)

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_

std::size_t	nr_

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.

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	nh_
	Number of equality constraints.

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.

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 41 of file integ-action-base.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

Reimplemented from ActionModelAbstractTpl< _Scalar >.

Reimplemented in IntegratedActionModelRK4Tpl< _Scalar >, IntegratedActionModelRKTpl< _Scalar >, and IntegratedActionModelEulerTpl< _Scalar >.

Member Data Documentation

◆ has_control_limits_

bool has_control_limits_

protected

Indicates whether any of the control limits is finite

Definition at line 315 of file action-base.hpp.

◆ nr_

std::size_t nr_

protected

< Indicates whether any of the control limits are active

Definition at line 306 of file action-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/core/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.0.2/include/crocoddyl/core/integ-action-base.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes