crocoddyl  1.7.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
CostModelControlGravContactTpl< _Scalar > Class Template Reference

Control gravity cost. More...

#include <crocoddyl/multibody/costs/control-gravity-contact.hpp>

Inheritance diagram for CostModelControlGravContactTpl< _Scalar >:
Collaboration diagram for CostModelControlGravContactTpl< _Scalar >:

Public Types

typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef ActivationModelQuadTpl< Scalar > ActivationModelQuad
 
typedef ActuationModelAbstractTpl< Scalar > ActuationModelAbstract
 
typedef CostModelAbstractTpl< Scalar > Base
 
typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef CostDataControlGravContactTpl< Scalar > Data
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from CostModelAbstractTpl< _Scalar >
typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef ActivationModelQuadTpl< Scalar > ActivationModelQuad
 
typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 CostModelControlGravContactTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu)
 Initialize the control gravity contact cost model. More...
 
 CostModelControlGravContactTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation)
 Initialize the control gravity contact cost model. More...
 
 CostModelControlGravContactTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nu)
 Initialize the control gravity contact cost model. More...
 
 CostModelControlGravContactTpl (boost::shared_ptr< StateMultibody > state)
 Initialize the control gravity contact cost model. More...
 
virtual void calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the control gravity contact cost. More...
 
virtual void calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the derivatives of the control gravity contact cost. More...
 
virtual boost::shared_ptr< CostDataAbstractcreateData (DataCollectorAbstract *const data)
 Create the cost data. More...
 
- Public Member Functions inherited from CostModelAbstractTpl< _Scalar >
 CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu)
 Initialize the cost model. More...
 
 CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation)
 
 CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu)
 
 CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr)
 
virtual void calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 Compute the cost value and its residual vector. More...
 
void calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual void calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 Compute the Jacobian and Hessian of cost and its residual vector. More...
 
void calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
const boost::shared_ptr< ActivationModelAbstract > & get_activation () const
 Return the activation model.
 
std::size_t get_nu () const
 Return the dimension of the control input.
 
template<class ReferenceType >
ReferenceType get_reference () const
 Return the cost reference.
 
const boost::shared_ptr< StateAbstract > & get_state () const
 Return the state.
 
template<class ReferenceType >
void set_reference (ReferenceType ref)
 Modify the cost reference.
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from CostModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Additional Inherited Members

- Protected Member Functions inherited from CostModelAbstractTpl< _Scalar >
virtual void get_referenceImpl (const std::type_info &, void *) const
 
virtual void set_referenceImpl (const std::type_info &, const void *)
 
- Protected Attributes inherited from CostModelAbstractTpl< _Scalar >
boost::shared_ptr< ActivationModelAbstractactivation_
 Activation model.
 
std::size_t nu_
 Control dimension.
 
boost::shared_ptr< StateAbstractstate_
 State description.
 
VectorXs unone_
 No control vector.
 

Detailed Description

template<typename _Scalar>
class crocoddyl::CostModelControlGravContactTpl< _Scalar >

Control gravity cost.

This cost function defines a residual vector as \(\mathbf{r}=\mathbf{u}-(g(q) - \sum J(q)^{\top} f_{\text{ext}})\), where \(\mathbf{u}\in~\mathbb{R}^{nu}\) is the current control input, \(J(q)\) the contact Jacobians, \(f_{\text{ext}}\) the external forces associated with the contacts, g the gravity torque corresponding to the current configuration, \(\mathbf{q}\in~\mathbb{R}^{nq}\) the current position joints input. Note that the dimension of the residual vector is obtained from nu.

Both cost and residual derivatives are computed analytically. For the computation of the cost Hessian, we use the Gauss-Newton approximation, e.g. \(\mathbf{l_{xx}} = \mathbf{l_{x}}^T \mathbf{l_{x}} \).

As described in CostModelAbstractTpl(), the cost value and its derivatives are calculated by calc and calcDiff, respectively.

See also
CostModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 41 of file control-gravity-contact.hpp.

Constructor & Destructor Documentation

◆ CostModelControlGravContactTpl() [1/4]

CostModelControlGravContactTpl ( boost::shared_ptr< StateMultibody state,
boost::shared_ptr< ActivationModelAbstract activation,
const std::size_t  nu 
)

Initialize the control gravity contact cost model.

Parameters
[in]stateState of the multibody system
[in]activationActivation model
[in]nuDimension of the control vector

◆ CostModelControlGravContactTpl() [2/4]

CostModelControlGravContactTpl ( boost::shared_ptr< StateMultibody state,
boost::shared_ptr< ActivationModelAbstract activation 
)

Initialize the control gravity contact cost model.

The default nu value is obtained from StateAbstractTpl::get_nv().

Parameters
[in]stateState of the multibody system
[in]activationActivation model

◆ CostModelControlGravContactTpl() [3/4]

CostModelControlGravContactTpl ( boost::shared_ptr< StateMultibody state,
const std::size_t  nu 
)

Initialize the control gravity contact cost model.

We use ActivationModelQuadTpl as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)).

Parameters
[in]stateState of the multibody system
[in]nuDimension of the control vector

◆ CostModelControlGravContactTpl() [4/4]

CostModelControlGravContactTpl ( boost::shared_ptr< StateMultibody state)
explicit

Initialize the control gravity contact cost model.

The default nu value is obtained from StateAbstractTpl::get_nv(). We use ActivationModelQuadTpl as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)).

Parameters
[in]stateState of the multibody system

Member Function Documentation

◆ calc()

virtual void calc ( const boost::shared_ptr< CostDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

Compute the control gravity contact cost.

Parameters
[in]dataControl cost data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

◆ calcDiff()

virtual void calcDiff ( const boost::shared_ptr< CostDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

Compute the derivatives of the control gravity contact cost.

Parameters
[in]dataControl cost data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

◆ createData()

virtual boost::shared_ptr<CostDataAbstract> createData ( DataCollectorAbstract *const  data)
virtual

Create the cost data.

The default data contains objects to store the values of the cost, residual vector and their derivatives (first and second order derivatives). However, it is possible to specialized this function is we need to create additional data, for instance, to avoid dynamic memory allocation.

Parameters
dataData collector
Returns
the cost data

Reimplemented from CostModelAbstractTpl< _Scalar >.


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