9 #ifndef CROCODDYL_CORE_CONTROL_BASE_HPP_
10 #define CROCODDYL_CORE_CONTROL_BASE_HPP_
12 #include <boost/shared_ptr.hpp>
14 #include "crocoddyl/core/fwd.hpp"
15 #include "crocoddyl/core/mathbase.hpp"
16 #include "crocoddyl/core/utils/exception.hpp"
39 template <
typename _Scalar>
42 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
44 typedef _Scalar Scalar;
47 typedef typename MathBase::VectorXs VectorXs;
48 typedef typename MathBase::MatrixXs MatrixXs;
66 virtual void calc(
const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
const Scalar t,
67 const Eigen::Ref<const VectorXs>& u)
const = 0;
78 virtual void calcDiff(
const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
const Scalar t,
79 const Eigen::Ref<const VectorXs>& u)
const = 0;
86 virtual boost::shared_ptr<ControlParametrizationDataAbstract>
createData();
95 virtual void params(
const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
const Scalar t,
96 const Eigen::Ref<const VectorXs>& w)
const = 0;
106 virtual void convertBounds(
const Eigen::Ref<const VectorXs>& w_lb,
const Eigen::Ref<const VectorXs>& w_ub,
107 Eigen::Ref<VectorXs> u_lb, Eigen::Ref<VectorXs> u_ub)
const = 0;
120 virtual void multiplyByJacobian(
const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
121 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
122 const AssignmentOp = setto)
const = 0;
124 virtual MatrixXs multiplyByJacobian_J(
const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
125 const Eigen::Ref<const MatrixXs>& A,
const AssignmentOp = setto)
const;
140 const Eigen::Ref<const MatrixXs>& A, Eigen::Ref<MatrixXs> out,
141 const AssignmentOp = setto)
const = 0;
143 virtual MatrixXs multiplyJacobianTransposeBy_J(
const boost::shared_ptr<ControlParametrizationDataAbstract>& data,
144 const Eigen::Ref<const MatrixXs>& A,
145 const AssignmentOp = setto)
const;
150 virtual bool checkData(
const boost::shared_ptr<ControlParametrizationDataAbstract>& data);
155 std::size_t
get_nw()
const;
160 std::size_t
get_nu()
const;
167 template <
typename _Scalar>
169 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
171 typedef _Scalar Scalar;
173 typedef typename MathBase::VectorXs VectorXs;
174 typedef typename MathBase::MatrixXs MatrixXs;
176 template <
template <
typename Scalar>
class Model>
178 :
w(model->get_nw()),
u(model->get_nu()),
dw_du(model->get_nw(), model->get_nu()) {
195 #include "crocoddyl/core/control-base.hxx"
197 #endif // CROCODDYL_CORE_CONTROL_BASE_HPP_