9 #ifndef CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_
10 #define CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_
14 #include "crocoddyl/core/fwd.hpp"
15 #include "crocoddyl/core/action-base.hpp"
16 #include "crocoddyl/core/states/euclidean.hpp"
19 template <
typename _Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
24 typedef _Scalar Scalar;
29 typedef typename MathBase::VectorXs VectorXs;
30 typedef typename MathBase::Vector2s Vector2s;
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 Vector2s& get_cost_weights()
const;
45 void set_cost_weights(
const Vector2s& weights);
47 Scalar get_dt()
const;
48 void set_dt(
const Scalar dt);
55 virtual void print(std::ostream& os)
const;
62 Vector2s cost_weights_;
66 template <
typename _Scalar>
68 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
70 typedef _Scalar Scalar;
84 template <
template <
typename Scalar>
class Model>
86 Fx.diagonal().array() = Scalar(1.);
95 #include "crocoddyl/core/actions/unicycle.hxx"
97 #endif // CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_