10 #ifndef CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_
11 #define CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_
16 #include "crocoddyl/core/actuation-base.hpp"
17 #include "crocoddyl/core/fwd.hpp"
33 template <
typename _Scalar>
34 class ActuationModelNumDiffTpl :
public ActuationModelAbstractTpl<_Scalar> {
36 typedef _Scalar Scalar;
37 typedef MathBaseTpl<Scalar> MathBase;
38 typedef ActuationModelAbstractTpl<Scalar> Base;
39 typedef ActuationDataNumDiffTpl<Scalar> Data;
40 typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract;
41 typedef typename MathBase::VectorXs VectorXs;
42 typedef typename MathBase::MatrixXs MatrixXs;
60 virtual void calc(
const boost::shared_ptr<ActuationDataAbstract>& data,
61 const Eigen::Ref<const VectorXs>& x,
62 const Eigen::Ref<const VectorXs>& u);
68 virtual void calc(
const boost::shared_ptr<ActuationDataAbstract>& data,
69 const Eigen::Ref<const VectorXs>& x);
74 virtual void calcDiff(
const boost::shared_ptr<ActuationDataAbstract>& data,
75 const Eigen::Ref<const VectorXs>& x,
76 const Eigen::Ref<const VectorXs>& u);
83 virtual void calcDiff(
const boost::shared_ptr<ActuationDataAbstract>& data,
84 const Eigen::Ref<const VectorXs>& x);
89 virtual void commands(
const boost::shared_ptr<ActuationDataAbstract>& data,
90 const Eigen::Ref<const VectorXs>& x,
91 const Eigen::Ref<const VectorXs>& tau);
96 virtual boost::shared_ptr<ActuationDataAbstract>
createData();
101 const boost::shared_ptr<Base>&
get_model()
const;
116 boost::shared_ptr<Base> model_;
125 template <
typename _Scalar>
126 struct ActuationDataNumDiffTpl :
public ActuationDataAbstractTpl<_Scalar> {
127 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
129 typedef _Scalar Scalar;
130 typedef MathBaseTpl<Scalar> MathBase;
131 typedef typename MathBase::VectorXs VectorXs;
132 typedef ActuationDataAbstractTpl<Scalar> Base;
140 template <
template <
typename Scalar>
class Model>
143 dx(model->get_model()->get_state()->get_ndx()),
144 du(model->get_model()->get_nu()),
145 xp(model->get_model()->get_state()->get_nx()) {
149 const std::size_t ndx = model->get_model()->get_state()->get_ndx();
150 const std::size_t nu = model->get_model()->get_nu();
151 data_0 = model->get_model()->createData();
152 for (std::size_t i = 0; i < ndx; ++i) {
153 data_x.push_back(model->get_model()->createData());
155 for (std::size_t i = 0; i < nu; ++i) {
156 data_u.push_back(model->get_model()->createData());
168 boost::shared_ptr<Base>
data_0;
170 std::vector<boost::shared_ptr<Base> >
172 std::vector<boost::shared_ptr<Base> >
185 #include "crocoddyl/core/numdiff/actuation.hxx"
187 #endif // CROCODDYL_CORE_NUMDIFF_ACTUATION_HPP_