Wraps a crocoddyl::ActionModelAbstract. More...

#include <aligator/compat/crocoddyl/action-model-wrap.hpp>

Inheritance diagram for aligator::compat::croc::ActionModelWrapperTpl< Scalar >:

Collaboration diagram for aligator::compat::croc::ActionModelWrapperTpl< Scalar >:

Public Types
using	Base = StageModelTpl<Scalar>

using	Data = StageDataTpl<Scalar>

using	Constraint = StageConstraintTpl<Scalar>

using	Dynamics = typename Base::Dynamics

using	CrocActionModel = crocoddyl::ActionModelAbstractTpl<Scalar>

using	StateWrapper = StateWrapperTpl<Scalar>

using	ActionDataWrap = ActionDataWrapperTpl<Scalar>

using	DynDataWrap = DynamicsDataWrapperTpl<Scalar>

Public Types inherited from aligator::StageModelTpl< Scalar >
using	Scalar

using	Manifold

using	ManifoldPtr

using	Dynamics

using	DynamicsPtr

using	FunctionPtr

using	ConstraintSetPtr

using	Constraint

using	Cost

using	CostPtr

using	Data

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	ActionModelWrapperTpl (boost::shared_ptr< CrocActionModel > action_model)

bool	has_dyn_model () const override

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.

void	computeFirstOrderDerivatives (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &y, Data &data) const override
	Compute the first-order derivatives of the StageModelTpl.

void	computeSecondOrderDerivatives (const ConstVectorRef &, const ConstVectorRef &, Data &) const override
	Does nothing for this class.

shared_ptr< Data >	createData () const override
	Create a StageData object.

Public Member Functions inherited from aligator::StageModelTpl< Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	StageModelTpl (CostPtr cost, DynamicsPtr dynamics)

virtual	~StageModelTpl ()=default

const Manifold &	xspace () const

const Manifold &	uspace () const

const Manifold &	xspace_next () const

const Cost &	cost () const

virtual ALIGATOR_DEPRECATED const Dynamics &	dyn_model () const

int	nx1 () const

int	ndx1 () const

int	nu () const

int	nx2 () const

int	ndx2 () const

int	nc () const
	Total number of constraints.

std::size_t	numConstraints () const
	Number of constraint objects.

int	numPrimal () const
	Number of primal optimization variables.

int	numDual () const
	Number of dual variables, i.e. Lagrange multipliers.

void	addConstraint (T &&cstr)
	Add a constraint to the stage.

void	addConstraint (FunctionPtr func, ConstraintSetPtr cstr_set)
	Add a constraint to the stage.

Public Member Functions inherited from aligator::Cloneable< T >
shared_ptr< T >	clone () const

Public Attributes
boost::shared_ptr< CrocActionModel >	action_model_

Public Attributes inherited from aligator::StageModelTpl< Scalar >
ManifoldPtr	xspace_
	State space for the current state \(x_k\).

ManifoldPtr	xspace_next_
	State space for the next state \(x_{k+1}\).

ManifoldPtr	uspace_
	Control vector space – by default, a simple Euclidean space.

ConstraintStackTpl< Scalar >	constraints_
	Constraint manager.

CostPtr	cost_
	Stage cost function.

DynamicsPtr	dynamics_
	Dynamics model.

Additional Inherited Members
Protected Member Functions inherited from aligator::StageModelTpl< Scalar >
	StageModelTpl (ManifoldPtr space, const int nu)

virtual StageModelTpl *	clone_impl () const override

Detailed Description

template<typename Scalar>
struct aligator::compat::croc::ActionModelWrapperTpl< Scalar >

Wraps a crocoddyl::ActionModelAbstract.

This data structure rewires an ActionModel into a StageModel object.

Definition at line 22 of file action-model-wrap.hpp.

Member Typedef Documentation

◆ Base

template<typename Scalar >

using aligator::compat::croc::ActionModelWrapperTpl< Scalar >::Base = StageModelTpl<Scalar>

Definition at line 24 of file action-model-wrap.hpp.

◆ Data

template<typename Scalar >

using aligator::compat::croc::ActionModelWrapperTpl< Scalar >::Data = StageDataTpl<Scalar>

Definition at line 25 of file action-model-wrap.hpp.

◆ Constraint

template<typename Scalar >

using aligator::compat::croc::ActionModelWrapperTpl< Scalar >::Constraint = StageConstraintTpl<Scalar>

Definition at line 26 of file action-model-wrap.hpp.

◆ Dynamics

template<typename Scalar >

using aligator::compat::croc::ActionModelWrapperTpl< Scalar >::Dynamics = typename Base::Dynamics

Definition at line 27 of file action-model-wrap.hpp.

◆ CrocActionModel

template<typename Scalar >

using aligator::compat::croc::ActionModelWrapperTpl< Scalar >::CrocActionModel = crocoddyl::ActionModelAbstractTpl<Scalar>

Definition at line 28 of file action-model-wrap.hpp.

◆ StateWrapper

template<typename Scalar >

using aligator::compat::croc::ActionModelWrapperTpl< Scalar >::StateWrapper = StateWrapperTpl<Scalar>

Definition at line 29 of file action-model-wrap.hpp.

◆ ActionDataWrap

template<typename Scalar >

using aligator::compat::croc::ActionModelWrapperTpl< Scalar >::ActionDataWrap = ActionDataWrapperTpl<Scalar>

Definition at line 30 of file action-model-wrap.hpp.

◆ DynDataWrap

template<typename Scalar >

using aligator::compat::croc::ActionModelWrapperTpl< Scalar >::DynDataWrap = DynamicsDataWrapperTpl<Scalar>

Definition at line 31 of file action-model-wrap.hpp.

Constructor & Destructor Documentation

◆ ActionModelWrapperTpl()

template<typename Scalar >

aligator::compat::croc::ActionModelWrapperTpl< Scalar >::ActionModelWrapperTpl ( boost::shared_ptr< CrocActionModel > action_model )

explicit

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename Scalar >

aligator::compat::croc::ActionModelWrapperTpl< Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ has_dyn_model()

template<typename Scalar >

bool aligator::compat::croc::ActionModelWrapperTpl< Scalar >::has_dyn_model ( ) const

inlineoverridevirtual

Whether the stage's dynamics model can be accessed. This boolean allows flexibility in solvers when dealing with different frontends e.g. Crocoddyl's API.

Reimplemented from aligator::StageModelTpl< Scalar >.

Definition at line 38 of file action-model-wrap.hpp.

◆ evaluate()

template<typename Scalar >

void aligator::compat::croc::ActionModelWrapperTpl< Scalar >::evaluate	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	y,
		Data &	data ) const

overridevirtual

Evaluate all the functions (cost, dynamics, constraints) at this node.

Reimplemented from aligator::StageModelTpl< Scalar >.

◆ computeFirstOrderDerivatives()

template<typename Scalar >

void aligator::compat::croc::ActionModelWrapperTpl< Scalar >::computeFirstOrderDerivatives	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		const ConstVectorRef &	y,
		Data &	data ) const

overridevirtual

Compute the first-order derivatives of the StageModelTpl.

Reimplemented from aligator::StageModelTpl< Scalar >.

◆ computeSecondOrderDerivatives()

template<typename Scalar >

void aligator::compat::croc::ActionModelWrapperTpl< Scalar >::computeSecondOrderDerivatives	(	const ConstVectorRef &	,
		const ConstVectorRef &	,
		Data &	) const

inlineoverridevirtual

Does nothing for this class.

Reimplemented from aligator::StageModelTpl< Scalar >.

Definition at line 49 of file action-model-wrap.hpp.

◆ createData()

template<typename Scalar >

shared_ptr< Data > aligator::compat::croc::ActionModelWrapperTpl< Scalar >::createData ( ) const

overridevirtual

Create a StageData object.

Reimplemented from aligator::StageModelTpl< Scalar >.

Member Data Documentation

◆ action_model_

template<typename Scalar >

boost::shared_ptr<CrocActionModel> aligator::compat::croc::ActionModelWrapperTpl< Scalar >::action_model_

Definition at line 33 of file action-model-wrap.hpp.

The documentation for this struct was generated from the following file:

include/aligator/compat/crocoddyl/action-model-wrap.hpp

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Data

◆ Constraint

◆ Dynamics

◆ CrocActionModel

◆ StateWrapper

◆ ActionDataWrap

◆ DynDataWrap

Constructor & Destructor Documentation

◆ ActionModelWrapperTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ has_dyn_model()

◆ evaluate()

◆ computeFirstOrderDerivatives()

◆ computeSecondOrderDerivatives()

◆ createData()

Member Data Documentation

◆ action_model_