9 #ifndef CROCODDYL_CORE_NUMDIFF_RESIDUAL_HPP_
10 #define CROCODDYL_CORE_NUMDIFF_RESIDUAL_HPP_
12 #include <boost/function.hpp>
14 #include "crocoddyl/core/residual-base.hpp"
15 #include "crocoddyl/multibody/fwd.hpp"
28 template <
typename _Scalar>
29 class ResidualModelNumDiffTpl :
public ResidualModelAbstractTpl<_Scalar> {
31 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
33 typedef _Scalar Scalar;
34 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
35 typedef ResidualModelAbstractTpl<Scalar> Base;
36 typedef ResidualDataNumDiffTpl<Scalar> Data;
37 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
38 typedef MathBaseTpl<Scalar> MathBase;
39 typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
40 typedef typename MathBaseTpl<Scalar>::MatrixXs MatrixXs;
41 typedef boost::function<void(
const VectorXs&,
const VectorXs&)>
60 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
61 const Eigen::Ref<const VectorXs>& x,
62 const Eigen::Ref<const VectorXs>& u);
68 virtual void calc(
const boost::shared_ptr<ResidualDataAbstract>& data,
69 const Eigen::Ref<const VectorXs>& x);
74 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
75 const Eigen::Ref<const VectorXs>& x,
76 const Eigen::Ref<const VectorXs>& u);
83 virtual void calcDiff(
const boost::shared_ptr<ResidualDataAbstract>& data,
84 const Eigen::Ref<const VectorXs>& x);
89 virtual boost::shared_ptr<ResidualDataAbstract>
createData(
90 DataCollectorAbstract*
const data);
95 const boost::shared_ptr<Base>&
get_model()
const;
116 void set_reevals(
const std::vector<ReevaluationFunction>& reevals);
135 void assertStableStateFD(
const Eigen::Ref<const VectorXs>& );
137 boost::shared_ptr<Base> model_;
140 std::vector<ReevaluationFunction>
145 template <
typename _Scalar>
146 struct ResidualDataNumDiffTpl :
public ResidualDataAbstractTpl<_Scalar> {
147 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
149 typedef _Scalar Scalar;
150 typedef MathBaseTpl<Scalar> MathBase;
151 typedef ResidualDataAbstractTpl<Scalar> Base;
152 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
153 typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract;
154 typedef typename MathBaseTpl<Scalar>::VectorXs VectorXs;
162 template <
template <
typename Scalar>
class Model>
165 :
Base(model, shared_data),
166 dx(model->get_state()->get_ndx()),
167 xp(model->get_state()->get_nx()),
169 up(model->get_nu()) {
175 const std::size_t& ndx = model->get_model()->get_state()->get_ndx();
176 const std::size_t& nu = model->get_model()->get_nu();
177 data_0 = model->get_model()->createData(shared_data);
178 for (std::size_t i = 0; i < ndx; ++i) {
179 data_x.push_back(model->get_model()->createData(shared_data));
181 for (std::size_t i = 0; i < nu; ++i) {
182 data_u.push_back(model->get_model()->createData(shared_data));
203 boost::shared_ptr<Base>
data_0;
205 std::vector<boost::shared_ptr<Base> >
207 std::vector<boost::shared_ptr<Base> >
216 #include "crocoddyl/core/numdiff/residual.hxx"
218 #endif // CROCODDYL_CORE_NUMDIFF_RESIDUAL_HPP_