crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
residual.hpp
1 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
8 
9 #ifndef CROCODDYL_CORE_COSTS_RESIDUAL_COST_HPP_
10 #define CROCODDYL_CORE_COSTS_RESIDUAL_COST_HPP_
11 
12 #include "crocoddyl/core/fwd.hpp"
13 #include "crocoddyl/core/cost-base.hpp"
14 #include "crocoddyl/core/residual-base.hpp"
15 
16 namespace crocoddyl {
17 
35 template <typename _Scalar>
36 class CostModelResidualTpl : public CostModelAbstractTpl<_Scalar> {
37  public:
38  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39 
40  typedef _Scalar Scalar;
48  typedef typename MathBase::VectorXs VectorXs;
49  typedef typename MathBase::MatrixXs MatrixXs;
50 
58  CostModelResidualTpl(boost::shared_ptr<typename Base::StateAbstract> state,
59  boost::shared_ptr<ActivationModelAbstract> activation,
60  boost::shared_ptr<ResidualModelAbstract> residual);
69  CostModelResidualTpl(boost::shared_ptr<typename Base::StateAbstract> state,
70  boost::shared_ptr<ResidualModelAbstract> residual);
71  virtual ~CostModelResidualTpl();
72 
80  virtual void calc(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
81  const Eigen::Ref<const VectorXs>& u);
82 
92  virtual void calc(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
93 
101  virtual void calcDiff(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x,
102  const Eigen::Ref<const VectorXs>& u);
103 
113  virtual void calcDiff(const boost::shared_ptr<CostDataAbstract>& data, const Eigen::Ref<const VectorXs>& x);
114 
118  virtual boost::shared_ptr<CostDataAbstract> createData(DataCollectorAbstract* const data);
119 
125  virtual void print(std::ostream& os) const;
126 
127  protected:
128  using Base::activation_;
129  using Base::nu_;
130  using Base::residual_;
131  using Base::state_;
132  using Base::unone_;
133 };
134 
135 template <typename _Scalar>
136 struct CostDataResidualTpl : public CostDataAbstractTpl<_Scalar> {
137  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
138 
139  typedef _Scalar Scalar;
143  typedef typename MathBase::MatrixXs MatrixXs;
144 
145  template <template <typename Scalar> class Model>
146  CostDataResidualTpl(Model<Scalar>* const model, DataCollectorAbstract* const data)
147  : Base(model, data),
148  Arr_Rx(model->get_residual()->get_nr(), model->get_state()->get_ndx()),
149  Arr_Ru(model->get_residual()->get_nr(), model->get_nu()) {
150  Arr_Rx.setZero();
151  Arr_Ru.setZero();
152  }
153 
154  MatrixXs Arr_Rx;
155  MatrixXs Arr_Ru;
156  using Base::activation;
157  using Base::cost;
158  using Base::Lu;
159  using Base::Luu;
160  using Base::Lx;
161  using Base::Lxu;
162  using Base::Lxx;
163  using Base::residual;
164  using Base::shared;
165 };
166 
167 } // namespace crocoddyl
168 
169 /* --- Details -------------------------------------------------------------- */
170 /* --- Details -------------------------------------------------------------- */
171 /* --- Details -------------------------------------------------------------- */
172 #include "crocoddyl/core/costs/residual.hxx"
173 
174 #endif // CROCODDYL_CORE_COSTS_RESIDUAL_COST_HPP_
crocoddyl::CostModelResidualTpl::print
virtual void print(std::ostream &os) const
Print relevant information of the cost-residual model.
crocoddyl::CostModelResidualTpl::CostModelResidualTpl
CostModelResidualTpl(boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, boost::shared_ptr< ResidualModelAbstract > residual)
Initialize the residual cost model.
crocoddyl::CostModelResidualTpl
Residual-based cost.
Definition: residual.hpp:36
crocoddyl::DataCollectorAbstractTpl
Definition: data-collector-base.hpp:18
crocoddyl::CostModelResidualTpl::createData
virtual boost::shared_ptr< CostDataAbstract > createData(DataCollectorAbstract *const data)
Create the residual cost data.
crocoddyl::MathBaseTpl< Scalar >
crocoddyl::CostModelAbstractTpl::unone_
VectorXs unone_
No control vector.
Definition: cost-base.hpp:244
crocoddyl::CostModelAbstractTpl::activation_
boost::shared_ptr< ActivationModelAbstract > activation_
Activation model.
Definition: cost-base.hpp:241
crocoddyl::CostModelAbstractTpl
Abstract class for cost models.
Definition: cost-base.hpp:49
crocoddyl::CostModelResidualTpl::calcDiff
virtual void calcDiff(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the derivatives of the residual cost.
crocoddyl::CostModelAbstractTpl::state_
boost::shared_ptr< StateAbstract > state_
State description.
Definition: cost-base.hpp:240
crocoddyl::CostDataAbstractTpl
Definition: cost-base.hpp:248
crocoddyl::CostModelResidualTpl::calc
virtual void calc(const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
Compute the residual cost.
crocoddyl::CostDataResidualTpl
Definition: residual.hpp:136
crocoddyl::CostModelAbstractTpl::residual_
boost::shared_ptr< ResidualModelAbstract > residual_
Residual model.
Definition: cost-base.hpp:242
crocoddyl::ActivationModelAbstractTpl< Scalar >
crocoddyl::ResidualModelAbstractTpl
Abstract class for residual models.
Definition: fwd.hpp:76
crocoddyl::CostModelAbstractTpl::nu_
std::size_t nu_
Control dimension.
Definition: cost-base.hpp:243