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| CostModelFrameVelocityTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameMotion &Fref, const std::size_t nu) |
| Initialize the frame velocity cost model. More...
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| CostModelFrameVelocityTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameMotion &Fref) |
| Initialize the frame velocity cost model. More...
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| CostModelFrameVelocityTpl (boost::shared_ptr< StateMultibody > state, const FrameMotion &Fref, const std::size_t nu) |
| Initialize the frame velocity cost model. More...
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| CostModelFrameVelocityTpl (boost::shared_ptr< StateMultibody > state, const FrameMotion &Fref) |
| Initialize the frame velocity 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 frame velocity 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 frame velocity cost. More...
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virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
| Create the frame velocity cost data.
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| DEPRECATED ("Use set_reference<FrameMotionTpl<Scalar> >()", void set_vref(const FrameMotion &vref_in)) |
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| DEPRECATED ("Use get_reference<FrameMotionTpl<Scalar> >()", const FrameMotion &get_vref() const) |
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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::CostModelFrameVelocityTpl< _Scalar >
Frame velocity cost.
This cost function defines a residual vector as \(\mathbf{r}=\mathbf{v}-\mathbf{v}^*\), where \(\mathbf{v},\mathbf{v}^*\in~T_{\mathbf{p}}~\mathbb{SE(3)}\) are the current and reference frame velocities, respectively. Note that the tangent vector is described by the frame placement \(\mathbf{p}\), and the dimension of the residual vector is 6.
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 frame-velocity.hpp.