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#ifndef __quadruped_walkgen_quadruped_step_hpp__ |
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#define __quadruped_walkgen_quadruped_step_hpp__ |
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#include <stdexcept> |
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#include "crocoddyl/core/action-base.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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#include "crocoddyl/core/states/euclidean.hpp" |
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#include "crocoddyl/core/utils/timer.hpp" |
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#include "crocoddyl/multibody/friction-cone.hpp" |
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namespace quadruped_walkgen { |
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template <typename _Scalar> |
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class ActionModelQuadrupedStepTpl |
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: public crocoddyl::ActionModelAbstractTpl<_Scalar> { |
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public: |
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typedef _Scalar Scalar; |
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typedef crocoddyl::ActionDataAbstractTpl<Scalar> ActionDataAbstract; |
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typedef crocoddyl::ActionModelAbstractTpl<Scalar> Base; |
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typedef crocoddyl::MathBaseTpl<Scalar> MathBase; |
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ActionModelQuadrupedStepTpl(); |
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~ActionModelQuadrupedStepTpl(); |
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virtual void calc(const boost::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const typename MathBase::VectorXs>& x, |
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const Eigen::Ref<const typename MathBase::VectorXs>& u); |
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virtual void calcDiff(const boost::shared_ptr<ActionDataAbstract>& data, |
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const Eigen::Ref<const typename MathBase::VectorXs>& x, |
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const Eigen::Ref<const typename MathBase::VectorXs>& u); |
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virtual boost::shared_ptr<ActionDataAbstract> createData(); |
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// Get and Set weights vectors : state , force & friction cone : |
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const typename Eigen::Matrix<Scalar, 12, 1>& get_state_weights() const; |
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void set_state_weights(const typename MathBase::VectorXs& weights); |
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const typename Eigen::Matrix<Scalar, 8, 1>& get_step_weights() const; |
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void set_step_weights(const typename MathBase::VectorXs& weights); |
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const typename Eigen::Matrix<Scalar, 8, 1>& get_heuristic_weights() const; |
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void set_heuristic_weights(const typename MathBase::VectorXs& weights); |
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// Update the model depending if the foot in contact with the ground |
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// or the new lever arms |
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void update_model( |
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const Eigen::Ref<const typename MathBase::MatrixXs>& l_feet, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& xref, |
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const Eigen::Ref<const typename MathBase::VectorXs>& S, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& position, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& velocity, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& acceleration, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& jerk, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& oRh, |
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const Eigen::Ref<const typename MathBase::MatrixXs>& oTh, |
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const Scalar& delta_T); |
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const bool& get_symmetry_term() const; |
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void set_symmetry_term(const bool& sym_term); |
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const bool& get_centrifugal_term() const; |
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void set_centrifugal_term(const bool& cent_term); |
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const Scalar& get_T_gait() const; |
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void set_T_gait(const Scalar& T_gait_); |
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const bool& get_acc_activated() const; |
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void set_acc_activated(const bool& is_activated); |
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const typename Eigen::Matrix<Scalar, 2, 1>& get_acc_lim() const; |
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void set_acc_lim(const typename MathBase::VectorXs& acceleration_lim_); |
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const Scalar& get_acc_weight() const; |
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void set_acc_weight(const Scalar& weight_); |
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const bool& get_vel_activated() const; |
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void set_vel_activated(const bool& is_activated); |
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const typename Eigen::Matrix<Scalar, 2, 1>& get_vel_lim() const; |
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void set_vel_lim(const typename MathBase::VectorXs& velocity_lim_); |
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const Scalar& get_vel_weight() const; |
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void set_vel_weight(const Scalar& weight_); |
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void set_sample_feet_traj(const int& n_sample); |
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const bool& get_jerk_activated() const; |
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void set_jerk_activated(const bool& is_activated); |
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const Scalar& get_jerk_weight() const; |
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void set_jerk_weight(const Scalar& weight_); |
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protected: |
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using Base::has_control_limits_; //!< Indicates whether any of the control |
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//!< limits |
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using Base::nr_; //!< Dimension of the cost residual |
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using Base::nu_; //!< Control dimension |
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using Base::state_; //!< Model of the state |
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using Base::u_lb_; //!< Lower control limits |
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using Base::u_ub_; //!< Upper control limits |
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using Base::unone_; //!< Neutral state |
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private: |
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Scalar T_gait; |
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bool centrifugal_term; |
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bool symmetry_term; |
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typename Eigen::Matrix<Scalar, 12, 1> state_weights_; |
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typename Eigen::Matrix<Scalar, 8, 1> step_weights_; |
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typename Eigen::Matrix<Scalar, 8, 1> heuristic_weights_; |
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typename MathBase::Matrix3s R_tmp; |
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typename Eigen::Matrix<Scalar, 8, 8> B; |
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typename MathBase::MatrixXs xref_; |
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typename Eigen::Matrix<Scalar, 8, 1> pheuristic_; |
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// typename Eigen::Matrix<Scalar, 2, 4> pshoulder_0; |
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// typename Eigen::Matrix<Scalar, 2, 4> pshoulder_tmp; |
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// typename Eigen::Matrix<Scalar, 3, 1> pcentrifugal_tmp; |
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// typename Eigen::Matrix<Scalar, 3, 1> pcentrifugal_tmp_1; |
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// typename Eigen::Matrix<Scalar, 3, 1> pcentrifugal_tmp_2; |
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// Cost on the acceleration of the feet : |
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int N_sampling; |
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bool is_acc_activated_; // Boolean to activate the cost on the acceleration |
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// of the feet |
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Scalar acc_weight_; // Weight on the acceleration cost |
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typename Eigen::Matrix<Scalar, 2, 1> |
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acc_lim_; // Maximum acceleration allowed on x and y axis |
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typename Eigen::Matrix<Scalar, 4, 1> S_; // Containing the moving feet |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> delta_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> gamma_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> alpha_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> beta_x_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> beta_y_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> tmp_ones_; |
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typename Eigen::Array<Scalar, 3, 4> position_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> rb_accx_max_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> rb_accy_max_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> |
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rb_accx_max_bool_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> |
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rb_accy_max_bool_; |
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// Cost on the velocity of the feet : |
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bool is_vel_activated_; // Boolean to activate the cost on the velocity of |
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// the feet |
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Scalar vel_weight_; // Weight on the velocity cost |
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typename Eigen::Matrix<Scalar, 2, 1> |
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vel_lim_; // Maximum velocity allowed on x and y axis |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> gamma_v; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> alpha_v; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> beta_x_v; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> beta_y_v; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> rb_velx_max_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> rb_vely_max_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> |
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rb_velx_max_bool_; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> |
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rb_vely_max_bool_; |
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// Cost on the jerk of the feet |
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bool is_jerk_activated_; |
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Scalar jerk_weight_; |
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Scalar alpha_j; |
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typename Eigen::Array<Scalar, Eigen::Dynamic, Eigen::Dynamic> beta_j; |
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typename Eigen::Array<Scalar, 3, 4> jerk_; |
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typename Eigen::Matrix<Scalar, 2, 4> rb_jerk_; |
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typename Eigen::Matrix<Scalar, 3, 3> oRh_; |
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typename Eigen::Matrix<Scalar, 3, 1> oTh_; |
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}; |
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template <typename _Scalar> |
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struct ActionDataQuadrupedStepTpl |
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: public crocoddyl::ActionDataAbstractTpl<_Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef crocoddyl::MathBaseTpl<Scalar> MathBase; |
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typedef crocoddyl::ActionDataAbstractTpl<Scalar> Base; |
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using Base::cost; |
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using Base::Fu; |
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using Base::Fx; |
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using Base::Lu; |
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using Base::Luu; |
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using Base::Lx; |
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using Base::Lxu; |
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using Base::Lxx; |
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using Base::r; |
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using Base::xnext; |
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template <template <typename Scalar> class Model> |
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explicit ActionDataQuadrupedStepTpl(Model<Scalar>* const model) |
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: crocoddyl::ActionDataAbstractTpl<Scalar>(model) {} |
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}; |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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typedef ActionModelQuadrupedStepTpl<double> ActionModelQuadrupedStep; |
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typedef ActionDataQuadrupedStepTpl<double> ActionDataQuadrupedStep; |
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} // namespace quadruped_walkgen |
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#include "quadruped_step.hxx" |
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#endif |
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