integ-action-base.hpp

// BSD 3-Clause License
//
// Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh,
// University of Oxford, University of Trento,
// Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_
#define CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_

#include "crocoddyl/core/action-base.hpp"
#include "crocoddyl/core/control-base.hpp"
#include "crocoddyl/core/diff-action-base.hpp"
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/utils/deprecate.hpp"

namespace crocoddyl {

template <typename _Scalar>
class IntegratedActionModelAbstractTpl
 : public ActionModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ActionModelAbstractTpl<Scalar> Base;
 typedef IntegratedActionDataAbstractTpl<Scalar> Data;
 typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract;
 typedef DifferentialActionModelAbstractTpl<Scalar>
 DifferentialActionModelAbstract;
 typedef ControlParametrizationModelAbstractTpl<Scalar>
 ControlParametrizationModelAbstract;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::MatrixXs MatrixXs;

 IntegratedActionModelAbstractTpl(
 std::shared_ptr<DifferentialActionModelAbstract> model,
 std::shared_ptr<ControlParametrizationModelAbstract> control,
 const Scalar time_step = Scalar(1e-3),
 const bool with_cost_residual = true);

 IntegratedActionModelAbstractTpl(
 std::shared_ptr<DifferentialActionModelAbstract> model,
 const Scalar time_step = Scalar(1e-3),
 const bool with_cost_residual = true);
 virtual ~IntegratedActionModelAbstractTpl() = default;

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

 virtual std::size_t get_ng() const override;

 virtual std::size_t get_nh() const override;

 virtual std::size_t get_ng_T() const override;

 virtual std::size_t get_nh_T() const override;

 virtual const VectorXs& get_g_lb() const override;

 virtual const VectorXs& get_g_ub() const override;

 const std::shared_ptr<DifferentialActionModelAbstract>& get_differential()
 const;

 const std::shared_ptr<ControlParametrizationModelAbstract>& get_control()
 const;

 const Scalar get_dt() const;

 void set_dt(const Scalar dt);

 DEPRECATED("The DifferentialActionModel should be set at construction time",
 void set_differential(
 std::shared_ptr<DifferentialActionModelAbstract> model));

 protected:
 using Base::has_control_limits_;
 using Base::nr_;
 using Base::nu_;
 using Base::state_;
 using Base::u_lb_;
 using Base::u_ub_;

 IntegratedActionModelAbstractTpl()
 : differential_(nullptr),
 control_(nullptr),
 time_step_(0),
 time_step2_(0),
 with_cost_residual_(false) {}
 void init();

 std::shared_ptr<DifferentialActionModelAbstract>
 differential_;
 std::shared_ptr<ControlParametrizationModelAbstract>
 control_;

 Scalar time_step_;
 Scalar time_step2_;
 bool
 with_cost_residual_;
};

template <typename _Scalar>
struct IntegratedActionDataAbstractTpl : public ActionDataAbstractTpl<_Scalar> {
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ActionDataAbstractTpl<Scalar> Base;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::MatrixXs MatrixXs;

 template <template <typename Scalar> class Model>
 explicit IntegratedActionDataAbstractTpl(Model<Scalar>* const model)
 : Base(model) {}
 virtual ~IntegratedActionDataAbstractTpl() = default;

 using Base::cost;
 using Base::Fu;
 using Base::Fx;
 using Base::Lu;
 using Base::Luu;
 using Base::Lx;
 using Base::Lxu;
 using Base::Lxx;
 using Base::r;
 using Base::xnext;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/integ-action-base.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
 crocoddyl::IntegratedActionModelAbstractTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
 crocoddyl::IntegratedActionDataAbstractTpl)

#endif // CROCODDYL_CORE_INTEGRATED_ACTION_BASE_HPP_