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| CostModelImpulseCoMTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation) |
| Initialize the impulse CoM cost model. More...
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| CostModelImpulseCoMTpl (boost::shared_ptr< StateMultibody > state) |
| Initialize the impulse CoM cost model. More...
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virtual void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the impulse CoM cost. More...
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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 impulse CoM cost. More...
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virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
| Create the impulse CoM cost data.
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu) |
| Initialize the cost model. More...
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation) |
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu) |
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr) |
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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...
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void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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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...
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void | calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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const boost::shared_ptr< ActivationModelAbstract > & | get_activation () const |
| Return the activation model.
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std::size_t | get_nu () const |
| Return the dimension of the control input.
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template<class ReferenceType > |
ReferenceType | get_reference () const |
| Return the cost reference.
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const boost::shared_ptr< StateAbstract > & | get_state () const |
| Return the state.
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template<class ReferenceType > |
void | set_reference (ReferenceType ref) |
| Modify the cost reference.
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template<typename _Scalar>
class crocoddyl::CostModelImpulseCoMTpl< _Scalar >
Impulse CoM cost.
This cost function defines a residual vector as \(\mathbf{r}=\mathbf{J}_{com}*(\mathbf{v}_{next}-\mathbf{v})\), \(\mathbf{J}_{com}\in\mathbb{R}^{3\times nv}\) is the CoM Jacobian, and \(\mathbf{v}_{next},\mathbf{v}\in T_{\mathbf{q}}\mathcal{Q}\) are the generalized velocities after and before the impulse, respectively. Note that the dimension of the residual vector is 3.
Both cost and residual derivatives are computed analytically. For the computation of the cost Hessian, we use the Gauss-Newton approximation, e.g. \(\mathbf{l_{xu}} = \mathbf{l_{x}}^T \mathbf{l_{u}} \).
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 40 of file impulse-com.hpp.