10 #ifndef CROCODDYL_CORE_NUMDIFF_COST_HPP_
11 #define CROCODDYL_CORE_NUMDIFF_COST_HPP_
13 #include <boost/function.hpp>
14 #include "crocoddyl/multibody/fwd.hpp"
15 #include "crocoddyl/core/cost-base.hpp"
28 template <
typename _Scalar>
31 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
33 typedef _Scalar Scalar;
41 typedef boost::function<void(
const VectorXs&,
const VectorXs&)> ReevaluationFunction;
58 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
59 const Eigen::Ref<const VectorXs>& u);
64 virtual void calc(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
69 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
70 const Eigen::Ref<const VectorXs>& u);
76 virtual void calcDiff(
const boost::shared_ptr<CostDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
89 const boost::shared_ptr<Base>&
get_model()
const;
115 void set_reevals(
const std::vector<ReevaluationFunction>& reevals);
135 void assertStableStateFD(
const Eigen::Ref<const VectorXs>& );
137 boost::shared_ptr<Base> model_;
139 std::vector<ReevaluationFunction> reevals_;
142 template <
typename _Scalar>
144 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
146 typedef _Scalar Scalar;
159 template <
template <
typename Scalar>
class Model>
161 :
Base(model, shared_data),
162 dx(model->get_state()->get_ndx()),
163 xp(model->get_state()->get_nx()),
165 up(model->get_nu()) {
171 const std::size_t ndx = model->get_model()->get_state()->get_ndx();
172 const std::size_t nu = model->get_model()->get_nu();
173 data_0 = model->get_model()->createData(shared_data);
174 for (std::size_t i = 0; i < ndx; ++i) {
175 data_x.push_back(model->get_model()->createData(shared_data));
177 for (std::size_t i = 0; i < nu; ++i) {
178 data_u.push_back(model->get_model()->createData(shared_data));
184 using Base::activation;
191 using Base::residual;
199 std::vector<boost::shared_ptr<Base> >
data_x;
200 std::vector<boost::shared_ptr<Base> >
data_u;
208 #include "crocoddyl/core/numdiff/cost.hxx"
210 #endif // CROCODDYL_CORE_NUMDIFF_COST_HPP_