crocoddyl  1.7.0
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CostModelFramePlacementTpl< _Scalar > Class Template Reference

Frame placement cost. More...

#include <crocoddyl/multibody/costs/frame-placement.hpp>

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

Public Types

typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef CostModelAbstractTpl< Scalar > Base
 
typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef CostDataFramePlacementTpl< Scalar > Data
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef FramePlacementTpl< Scalar > FramePlacement
 
typedef MathBaseTpl< Scalar > MathBase
 
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

 CostModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FramePlacement &Fref, const std::size_t nu)
 Initialize the frame placement cost model. More...
 
 CostModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FramePlacement &Fref)
 Initialize the frame placement cost model. More...
 
 CostModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, const FramePlacement &Fref, const std::size_t nu)
 Initialize the frame placement cost model. More...
 
 CostModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, const FramePlacement &Fref)
 Initialize the frame placement 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 frame placement 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 frame placement cost. More...
 
virtual boost::shared_ptr< CostDataAbstractcreateData (DataCollectorAbstract *const data)
 Create the frame placement cost data.
 
 DEPRECATED ("Use set_reference<FramePlacementTpl<Scalar> >()", void set_Mref(const FramePlacement &Mref_in))
 
 DEPRECATED ("Use get_reference<FramePlacementTpl<Scalar> >()", const FramePlacement &get_Mref() 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 frame placement reference.
 
virtual void set_referenceImpl (const std::type_info &ti, const void *pv)
 Modify the frame placement 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::CostModelFramePlacementTpl< _Scalar >

Frame placement cost.

This cost function defines a residual vector as \(\mathbf{r}=\mathbf{p}\ominus\mathbf{p}^*\), where \(\mathbf{p},\mathbf{p}^*\in~\mathbb{SE(3)}\) are the current and reference frame placements, respectively. Note that 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 39 of file frame-placement.hpp.

Constructor & Destructor Documentation

◆ CostModelFramePlacementTpl() [1/4]

CostModelFramePlacementTpl ( boost::shared_ptr< StateMultibody state,
boost::shared_ptr< ActivationModelAbstract activation,
const FramePlacement Fref,
const std::size_t  nu 
)

Initialize the frame placement cost model.

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

◆ CostModelFramePlacementTpl() [2/4]

CostModelFramePlacementTpl ( boost::shared_ptr< StateMultibody state,
boost::shared_ptr< ActivationModelAbstract activation,
const FramePlacement Fref 
)

Initialize the frame placement cost model.

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

Parameters
[in]stateState of the multibody system
[in]activationActivation model
[in]FrefReference frame placement

◆ CostModelFramePlacementTpl() [3/4]

CostModelFramePlacementTpl ( boost::shared_ptr< StateMultibody state,
const FramePlacement Fref,
const std::size_t  nu 
)

Initialize the frame placement 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]FrefReference frame placement
[in]nuDimension of the control vector

◆ CostModelFramePlacementTpl() [4/4]

CostModelFramePlacementTpl ( boost::shared_ptr< StateMultibody state,
const FramePlacement Fref 
)

Initialize the frame placement cost model.

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

Parameters
[in]stateState of the multibody system
[in]activationActivation model
[in]FrefReference frame placement

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 frame placement cost.

Parameters
[in]dataFrame placement 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 frame placement cost.

Parameters
[in]dataFrame-placement 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: