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

Impulse friction cone cost. More...

#include <crocoddyl/multibody/costs/impulse-friction-cone.hpp>

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

Public Types

typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef CostModelAbstractTpl< Scalar > Base
 
typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef CostDataImpulseFrictionConeTpl< Scalar > Data
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef FrameFrictionConeTpl< Scalar > FrameFrictionCone
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixX3s MatrixX3s
 
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

 CostModelImpulseFrictionConeTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameFrictionCone &fref)
 Initialize the impulse friction cone cost model. More...
 
 CostModelImpulseFrictionConeTpl (boost::shared_ptr< StateMultibody > state, const FrameFrictionCone &fref)
 Initialize the impulse friction cone 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 impulse friction cone 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 impulse friction cone cost. More...
 
virtual boost::shared_ptr< CostDataAbstractcreateData (DataCollectorAbstract *const data)
 Create the impulse friction cone cost data.
 
 DEPRECATED ("Use set_reference<FrameFrictionConeTpl<Scalar> >()", void set_fref(const FrameFrictionCone &fref))
 
 DEPRECATED ("Use get_reference<FrameFrictionConeTpl<Scalar> >()", const FrameFrictionCone &get_fref() const)
 
- 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
 

Protected Member Functions

virtual void get_referenceImpl (const std::type_info &ti, void *pv) const
 Return the impulse friction cone reference.
 
virtual void set_referenceImpl (const std::type_info &ti, const void *pv)
 Modify the impulse friction cone reference.
 

Additional Inherited Members

- 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::CostModelImpulseFrictionConeTpl< _Scalar >

Impulse friction cone cost.

This cost function defines a residual vector as \(\mathbf{r}=\mathbf{A}\boldsymbol{\lambda}\), where \(\mathbf{A}\in~\mathbb{R}^{nr\times nc}\) describes the linearized friction cone, \(\boldsymbol{\lambda}\in~\mathbb{R}^{ni}\) is the spatial contact impulse computed by ActionModelImpulseFwdDynamicsTpl, and nr, ni are the number of cone facets and dimension of the impulse, respectively.

Both cost and residual derivatives are computed analytically, where th force vector \(\boldsymbol{\lambda}\) and its derivatives \(\left(\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{x}}, \frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{u}}\right)\) are computed by ActionModelImpulseFwdDynamicsTpl. These values are stored in a shared data (i.e. DataCollectorImpulseTpl). Note that this cost function cannot be used with other action models. 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, ActionModelImpulseFwdDynamicsTpl, calc(), calcDiff(), createData()

Definition at line 49 of file impulse-friction-cone.hpp.

Constructor & Destructor Documentation

◆ CostModelImpulseFrictionConeTpl() [1/2]

CostModelImpulseFrictionConeTpl ( boost::shared_ptr< StateMultibody state,
boost::shared_ptr< ActivationModelAbstract activation,
const FrameFrictionCone fref 
)

Initialize the impulse friction cone cost model.

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

◆ CostModelImpulseFrictionConeTpl() [2/2]

CostModelImpulseFrictionConeTpl ( boost::shared_ptr< StateMultibody state,
const FrameFrictionCone fref 
)

Initialize the impulse friction cone 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]frefFriction cone

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 impulse friction cone cost.

Parameters
[in]dataImpulse friction cone 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 impulse friction cone cost.

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

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