9 #ifndef CROCODDYL_CORE_ACTIONS_LQR_HPP_
10 #define CROCODDYL_CORE_ACTIONS_LQR_HPP_
14 #include "crocoddyl/core/fwd.hpp"
15 #include "crocoddyl/core/action-base.hpp"
16 #include "crocoddyl/core/states/euclidean.hpp"
20 template <
typename _Scalar>
23 typedef _Scalar Scalar;
29 typedef typename MathBase::VectorXs VectorXs;
30 typedef typename MathBase::MatrixXs MatrixXs;
32 ActionModelLQRTpl(
const std::size_t nx,
const std::size_t nu,
const bool drift_free =
true);
35 virtual void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
36 const Eigen::Ref<const VectorXs>& u);
37 virtual void calc(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
38 virtual void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x,
39 const Eigen::Ref<const VectorXs>& u);
40 virtual void calcDiff(
const boost::shared_ptr<ActionDataAbstract>& data,
const Eigen::Ref<const VectorXs>& x);
41 virtual boost::shared_ptr<ActionDataAbstract>
createData();
42 virtual bool checkData(
const boost::shared_ptr<ActionDataAbstract>& data);
44 const MatrixXs& get_Fx()
const;
45 const MatrixXs& get_Fu()
const;
46 const VectorXs& get_f0()
const;
47 const VectorXs& get_lx()
const;
48 const VectorXs& get_lu()
const;
49 const MatrixXs& get_Lxx()
const;
50 const MatrixXs& get_Lxu()
const;
51 const MatrixXs& get_Luu()
const;
53 void set_Fx(
const MatrixXs& Fx);
54 void set_Fu(
const MatrixXs& Fu);
55 void set_f0(
const VectorXs& f0);
56 void set_lx(
const VectorXs& lx);
57 void set_lu(
const VectorXs& lu);
58 void set_Lxx(
const MatrixXs& Lxx);
59 void set_Lxu(
const MatrixXs& Lxu);
60 void set_Luu(
const MatrixXs& Luu);
67 virtual void print(std::ostream& os)
const;
85 template <
typename _Scalar>
87 typedef _Scalar Scalar;
90 typedef typename MathBase::VectorXs VectorXs;
92 template <
template <
typename Scalar>
class Model>
95 Luu_u_tmp(VectorXs::Zero(
static_cast<Eigen::Index
>(model->get_nu()))),
96 Lxx_x_tmp(VectorXs::Zero(
static_cast<Eigen::Index
>(model->get_state()->get_ndx()))) {
100 Lxx = model->get_Lxx();
101 Luu = model->get_Luu();
102 Lxu = model->get_Lxu();
124 #include "crocoddyl/core/actions/lqr.hxx"
126 #endif // CROCODDYL_CORE_ACTIONS_LQR_HPP_