Template Class ActionModelUnicycleTpl

• Defined in File unicycle.hpp

Inheritance Relationships

Base Type

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

Class Documentation

template<typename _Scalar>
class ActionModelUnicycleTpl : public crocoddyl::ActionModelAbstractTpl<_Scalar>

Public Types

typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract

typedef ActionModelAbstractTpl<Scalar> Base

typedef ActionDataUnicycleTpl<Scalar> Data

typedef MathBaseTpl<Scalar> MathBase

typedef MathBase::VectorXs VectorXs

typedef MathBase::Vector2s Vector2s

Public Functions

ActionModelUnicycleTpl()

virtual ~ActionModelUnicycleTpl() = default

virtual void calc(const std::shared_ptr<ActionDataAbstract> &data, const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &u) override

virtual void calc(const std::shared_ptr<ActionDataAbstract> &data, const Eigen::Ref<const VectorXs> &x) override

virtual void calcDiff(const std::shared_ptr<ActionDataAbstract> &data, const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &u) override

virtual void calcDiff(const std::shared_ptr<ActionDataAbstract> &data, const Eigen::Ref<const VectorXs> &x) override

virtual std::shared_ptr<ActionDataAbstract> createData() override

Create the action data.

Returns:

the action data

template<typename NewScalar>
ActionModelUnicycleTpl<NewScalar> cast() const

Cast the unicycle model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters:

NewScalar – The new scalar type to cast to.

Returns:

ActionModelUnicycleTpl<NewScalar> A unicycle model with the new scalar type.

virtual bool checkData(const std::shared_ptr<ActionDataAbstract> &data) override

Checks that a specific data belongs to this model.

const Vector2s &get_cost_weights() const

void set_cost_weights(const Vector2s &weights)

Scalar get_dt() const

void set_dt(const Scalar dt)

virtual void print(std::ostream &os) const override

Print relevant information of the unicycle model.

Parameters:

os – [out] Output stream object

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Attributes

std::size_t nu_

Control dimension.

std::shared_ptr<StateAbstract> state_

< Control dimension