9 #ifndef CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_
10 #define CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_
13 #include <boost/shared_ptr.hpp>
14 #include <boost/make_shared.hpp>
16 #include "crocoddyl/core/fwd.hpp"
17 #include "crocoddyl/core/state-base.hpp"
18 #include "crocoddyl/core/utils/math.hpp"
52 template <
typename _Scalar>
55 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
57 typedef _Scalar Scalar;
61 typedef typename MathBase::VectorXs VectorXs;
62 typedef typename MathBase::MatrixXs MatrixXs;
72 const std::size_t nr = 0);
82 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
83 const Eigen::Ref<const VectorXs>& u) = 0;
94 virtual void calc(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
95 const Eigen::Ref<const VectorXs>& x);
108 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
109 const Eigen::Ref<const VectorXs>& x,
const Eigen::Ref<const VectorXs>& u) = 0;
120 virtual void calcDiff(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
121 const Eigen::Ref<const VectorXs>& x);
128 virtual boost::shared_ptr<DifferentialActionDataAbstract>
createData();
133 virtual bool checkData(
const boost::shared_ptr<DifferentialActionDataAbstract>& data);
147 virtual void quasiStatic(
const boost::shared_ptr<DifferentialActionDataAbstract>& data, Eigen::Ref<VectorXs> u,
148 const Eigen::Ref<const VectorXs>& x,
const std::size_t maxiter = 100,
149 const Scalar tol = Scalar(1e-9));
162 VectorXs
quasiStatic_x(
const boost::shared_ptr<DifferentialActionDataAbstract>& data,
const VectorXs& x,
163 const std::size_t maxiter = 100,
const Scalar tol = Scalar(1e-9));
168 std::size_t
get_nu()
const;
173 std::size_t
get_nr()
const;
178 const boost::shared_ptr<StateAbstract>&
get_state()
const;
198 void set_u_lb(
const VectorXs& u_lb);
203 void set_u_ub(
const VectorXs& u_ub);
208 template <
class Scalar>
216 virtual void print(std::ostream& os)
const;
227 void update_has_control_limits();
230 template <
typename _Scalar>
232 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
234 typedef _Scalar Scalar;
236 typedef typename MathBase::VectorXs VectorXs;
237 typedef typename MathBase::MatrixXs MatrixXs;
239 template <
template <
typename Scalar>
class Model>
242 xout(model->get_state()->get_nv()),
243 Fx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
244 Fu(model->get_state()->get_nv(), model->get_nu()),
246 Lx(model->get_state()->get_ndx()),
248 Lxx(model->get_state()->get_ndx(), model->get_state()->get_ndx()),
249 Lxu(model->get_state()->get_ndx(), model->get_nu()),
250 Luu(model->get_nu(), model->get_nu()) {
280 #include "crocoddyl/core/diff-action-base.hxx"
282 #endif // CROCODDYL_CORE_DIFF_ACTION_BASE_HPP_