unicycle.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
// Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.

#ifndef CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_
#define CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_

#include "crocoddyl/core/action-base.hpp"
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/states/euclidean.hpp"

namespace crocoddyl {
template <typename _Scalar>
class ActionModelUnicycleTpl : public ActionModelAbstractTpl<_Scalar> {
 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 CROCODDYL_DERIVED_CAST(ActionModelBase, ActionModelUnicycleTpl)

 typedef _Scalar Scalar;
 typedef ActionDataAbstractTpl<Scalar> ActionDataAbstract;
 typedef ActionModelAbstractTpl<Scalar> Base;
 typedef ActionDataUnicycleTpl<Scalar> Data;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef typename MathBase::VectorXs VectorXs;
 typedef typename MathBase::Vector2s Vector2s;

 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;

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

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

 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;

 protected:
 using Base::nu_;
 using Base::state_;

 private:
 Vector2s cost_weights_;
 Scalar dt_;
};

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

 typedef _Scalar Scalar;
 typedef MathBaseTpl<Scalar> MathBase;
 typedef ActionDataAbstractTpl<Scalar> Base;
 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;

 template <template <typename Scalar> class Model>
 explicit ActionDataUnicycleTpl(Model<Scalar>* const model) : Base(model) {
 Fx.diagonal().array() = Scalar(1.);
 }
 virtual ~ActionDataUnicycleTpl() = default;
};

} // namespace crocoddyl

/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/actions/unicycle.hxx"

CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActionModelUnicycleTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ActionDataUnicycleTpl)

#endif // CROCODDYL_CORE_ACTIONS_UNICYCLE_HPP_