12#include <crocoddyl/core/action-base.hpp>
17template <
typename Scalar>
26 void evaluate(
const ConstVectorRef &,
const ConstVectorRef &,
27 const ConstVectorRef &,
DynData &)
const override {}
30 const ConstVectorRef &,
DynData &)
const override {}
38template <
typename Scalar>
56 void evaluate(
const ConstVectorRef &x,
const ConstVectorRef &u,
57 const ConstVectorRef &y,
Data &data)
const override;
60 const ConstVectorRef &u,
61 const ConstVectorRef &y,
62 Data &data)
const override;
66 const ConstVectorRef & ,
67 Data & )
const override {}
76template <
typename Scalar>
99#include "aligator/compat/crocoddyl/action-model-wrap.txx"
Headers for the Crocoddyl compatibility module.
Headers for compatibility modules.
Stage costs for control problems.
DynamicsModelTpl(xyz::polymorphic< Manifold > space, const int nu)
Data struct for stage models StageModelTpl.
StageDataTpl(const StageModel &stage_model)
StageModelTpl(const PolyCost &cost, const PolyDynamics &dynamics)
A complicated child class to StageDataTpl which pipes Crocoddyl's data to the right places.
DynamicsDataWrapperTpl< Scalar > DynamicsDataWrapper
shared_ptr< CrocActionData > croc_action_data
crocoddyl::ActionModelAbstractTpl< Scalar > CrocActionModel
StageDataTpl< Scalar > Base
crocoddyl::ActionDataAbstractTpl< Scalar > CrocActionData
shared_ptr< DynamicsDataWrapper > dynamics_data
ActionDataWrapperTpl(const ActionModelWrapperTpl< Scalar > &croc_action_model)
void checkData()
Check data integrity.
Wraps a crocoddyl::ActionModelAbstract.
ActionModelWrapperTpl(shared_ptr< CrocActionModel > action_model)
void computeFirstOrderDerivatives(const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const override
Compute the first-order derivatives of the StageModelTpl.
void evaluate(const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const override
Evaluate all the functions (cost, dynamics, constraints) at this node.
shared_ptr< CrocActionModel > action_model_
ActionDataWrapperTpl< Scalar > ActionDataWrap
StateWrapperTpl< Scalar > StateWrapper
StageDataTpl< Scalar > Data
DynamicsDataWrapperTpl< Scalar > DynDataWrap
ManifoldAbstractTpl< Scalar > Manifold
CostAbstractTpl< Scalar > CostAbstract
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
StageModelTpl< Scalar > Base
bool hasDynModel() const override
void computeSecondOrderDerivatives(const ConstVectorRef &, const ConstVectorRef &, Data &) const override
Does nothing for this class.
crocoddyl::ActionModelAbstractTpl< Scalar > CrocActionModel
shared_ptr< Data > createData() const override
Create a StageData object.
DynamicsDataTpl< Scalar > DynData
DynamicsModelTpl< Scalar > Base
NoOpDynamics(xyz::polymorphic< Manifold > state, const int nu)
void evaluate(const ConstVectorRef &, const ConstVectorRef &, const ConstVectorRef &, DynData &) const override
ALIGATOR_DYNAMIC_TYPEDEFS(Scalar)
void computeJacobians(const ConstVectorRef &, const ConstVectorRef &, const ConstVectorRef &, DynData &) const override
ManifoldAbstractTpl< Scalar > Manifold
Wraps a crocoddyl::StateAbstractTpl to a manifold (proxsuite::nlp::ManifoldAbstractTpl).