Template Class IntegratedActionModelAbstractTpl

Defined in File integ-action-base.hpp

Inheritance Relationships

Base Type

public crocoddyl::ActionModelAbstractTpl< _Scalar > (Template Class ActionModelAbstractTpl)

Derived Types

public crocoddyl::IntegratedActionModelEulerTpl< _Scalar > (Template Class IntegratedActionModelEulerTpl)
public crocoddyl::IntegratedActionModelRKTpl< _Scalar > (Template Class IntegratedActionModelRKTpl)

Class Documentation

template<typename _Scalar> class IntegratedActionModelAbstractTpl : public crocoddyl::ActionModelAbstractTpl<_Scalar>

Abstract class for an integrated action model.

An integrated action model is a special kind of action model that is obtained by applying a numerical integration scheme to a differential (i.e., continuous time) action model. Different integration schemes can be implemented inheriting from this base class.

The numerical integration introduces also the possibility to parametrize the control trajectory inside an integration step, for instance using polynomials. This requires introducing some notation to clarify the difference between the control inputs of the differential model and the control inputs to the integrated model. We have decided to use \(\mathbf{w}\) to refer to the control inputs of the differential model and \(\mathbf{u}\) for the control inputs of the integrated action model.