How to include constraints in custom differential action models?

[lwygzh]

Hi,

I wanted to create a custom differential action model that has constraints. I was wondering if there is any sample code showing how to do that, especially when taking in a constraint manager instance instead of manually specifying the partial derivatives and passing it to data.

Thanks!

[cmastalli]

We're refactoring deeply Crocoddyl. For instance, we'll deprecate differentiable action models in future releases. This constraint us to develop the requested example.

However, I suggest you have a look at our inverse-dynamics differential action models. In a nutshell, the constraint manager works similarly to our cost sum, i.e., you need to share the memory: https://github.com/loco-3d/crocoddyl/blob/devel/include/crocoddyl/multibody/actions/free-invdyn.hpp#L401

[lwygzh]

@cmastalli Thanks for the response! I don't think I have access to the file you shared.

[cmastalli]

I updated the link.