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	CostAbstract = CostAbstractTpl<Scalar>

using	CrocActionModel = crocoddyl::ActionModelAbstractTpl<Scalar>

using	StateWrapper = StateWrapperTpl<Scalar>

using	ActionDataWrap = ActionDataWrapperTpl<Scalar>

using	DynDataWrap = DynamicsDataWrapperTpl<Scalar>

using	Manifold = ManifoldAbstractTpl<Scalar>

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

using	Manifold = ManifoldAbstractTpl<Scalar>

using	PolyManifold = xyz::polymorphic<Manifold>

using	Dynamics = DynamicsModelTpl<Scalar>

using	PolyDynamics = xyz::polymorphic<Dynamics>

using	PolyFunction = xyz::polymorphic<StageFunctionTpl<Scalar>>

using	PolyConstraintSet = xyz::polymorphic<ConstraintSetTpl<Scalar>>

using	Cost = CostAbstractTpl<Scalar>

using	PolyCost = xyz::polymorphic<Cost>

using	StageConstraint = StageConstraintTpl<Scalar>

using	Data = StageDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

	ActionModelWrapperTpl (boost::shared_ptr< CrocActionModel > action_model)

bool	hasDynModel () 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)

template<typename U >
U *	getCost ()
	Get a pointer to an expected concrete type for the cost function.

template<typename U >
const U *	getCost () const

template<typename U >
U *	getDynamics ()
	Get a pointer to an expected concrete type for the dynamics class.

template<typename U >
const U *	getDynamics () const

	StageModelTpl (const PolyCost &cost, const PolyDynamics &dynamics)

virtual	~StageModelTpl ()=default

const Manifold &	xspace () const

const Manifold &	uspace () const

const Manifold &	xspace_next () const

const Cost &	cost () 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.

template<typename Cstr , typename = std::enable_if_t<std::is_same_v< std::decay_t<Cstr>, StageConstraint>>>
ALIGATOR_DEPRECATED void	addConstraint (Cstr &&cstr)
	Add a constraint to the stage.

void	addConstraint (const PolyFunction &func, const PolyConstraintSet &cstr_set)
	Add a constraint to the stage.

template<typename Cstr , typename >
void	addConstraint (Cstr &&cstr)

Public Attributes
boost::shared_ptr< CrocActionModel >	action_model_

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

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

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

ConstraintStackTpl< Scalar >	constraints_
	Constraint manager.

PolyCost	cost_
	Stage cost function.

PolyDynamics	dynamics_
	Dynamics model.

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 19 of file fwd.hpp.

Member Typedef Documentation

◆ Base

template<typename Scalar >

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

Definition at line 41 of file action-model-wrap.hpp.

◆ Data

template<typename Scalar >

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

Definition at line 42 of file action-model-wrap.hpp.

◆ CostAbstract

template<typename Scalar >

using aligator::compat::croc::ActionModelWrapperTpl< Scalar >::CostAbstract = CostAbstractTpl<Scalar>

Definition at line 43 of file action-model-wrap.hpp.

◆ CrocActionModel

template<typename Scalar >

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

Definition at line 44 of file action-model-wrap.hpp.

◆ StateWrapper

template<typename Scalar >

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

Definition at line 45 of file action-model-wrap.hpp.

◆ ActionDataWrap

template<typename Scalar >

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

Definition at line 46 of file action-model-wrap.hpp.

◆ DynDataWrap

template<typename Scalar >

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

Definition at line 47 of file action-model-wrap.hpp.

◆ Manifold

template<typename Scalar >

using aligator::compat::croc::ActionModelWrapperTpl< Scalar >::Manifold = ManifoldAbstractTpl<Scalar>

Definition at line 48 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 )

◆ hasDynModel()

template<typename Scalar >

bool aligator::compat::croc::ActionModelWrapperTpl< Scalar >::hasDynModel ( ) 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 55 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 66 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 50 of file action-model-wrap.hpp.

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

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

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Base

◆ Data

◆ CostAbstract

◆ CrocActionModel

◆ StateWrapper

◆ ActionDataWrap

◆ DynDataWrap

◆ Manifold

Constructor & Destructor Documentation

◆ ActionModelWrapperTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ hasDynModel()

◆ evaluate()

◆ computeFirstOrderDerivatives()

◆ computeSecondOrderDerivatives()

◆ createData()

Member Data Documentation

◆ action_model_