Frame placement cost. More...
#include <crocoddyl/multibody/costs/frame-placement.hpp>
Public Member Functions | |
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, 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, 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... | |
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CostModelResidualTpl (boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, boost::shared_ptr< ResidualModelAbstract > residual) | |
Initialize the residual cost model. More... | |
CostModelResidualTpl (boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ResidualModelAbstract > residual) | |
Initialize the residual cost model. More... | |
virtual void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the residual cost based on state only. More... | |
virtual void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Compute the residual cost. More... | |
virtual void | calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the derivatives of the residual cost with respect to the state only. 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 residual cost. More... | |
virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the residual cost data. More... | |
virtual void | print (std::ostream &os) const |
Print relevant information of the cost-residual model. More... | |
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CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation) | |
CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, boost::shared_ptr< ResidualModelAbstract > residual) | |
Initialize the cost model. More... | |
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< ResidualModelAbstract > residual) | |
CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr) | |
CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu) | |
virtual void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the total cost value for nodes that depends only on the state. More... | |
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... | |
virtual void | calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the Jacobian and Hessian of the cost functions with respect to the state only. More... | |
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... | |
virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the cost data. More... | |
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 () |
Return the cost reference. | |
const boost::shared_ptr< ResidualModelAbstract > & | get_residual () const |
Return the residual model. | |
const boost::shared_ptr< StateAbstract > & | get_state () const |
Return the state. | |
virtual void | print (std::ostream &os) const |
Print relevant information of the cost model. More... | |
template<class ReferenceType > | |
void | set_reference (ReferenceType ref) |
Modify the cost reference. | |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Member Functions | |
virtual void | get_referenceImpl (const std::type_info &ti, void *pv) |
Return the frame placement reference. More... | |
virtual void | set_referenceImpl (const std::type_info &ti, const void *pv) |
Modify the frame placement reference. More... | |
virtual void | get_referenceImpl (const std::type_info &, void *) |
Return the cost reference. More... | |
virtual void | set_referenceImpl (const std::type_info &, const void *) |
Modify the cost reference. More... | |
Protected Attributes | |
boost::shared_ptr< ActivationModelAbstract > | activation_ |
Activation model. More... | |
std::size_t | nu_ |
Control dimension. More... | |
boost::shared_ptr< ResidualModelAbstract > | residual_ |
Residual model. More... | |
boost::shared_ptr< StateAbstract > | state_ |
State description. More... | |
VectorXs | unone_ |
No control vector. More... | |
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boost::shared_ptr< ActivationModelAbstract > | activation_ |
Activation model. More... | |
std::size_t | nu_ |
Control dimension. More... | |
boost::shared_ptr< ResidualModelAbstract > | residual_ |
Residual model. More... | |
boost::shared_ptr< StateAbstract > | state_ |
State description. More... | |
VectorXs | unone_ |
No control vector. More... | |
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boost::shared_ptr< ActivationModelAbstract > | activation_ |
Activation model. More... | |
std::size_t | nu_ |
Control dimension. More... | |
boost::shared_ptr< ResidualModelAbstract > | residual_ |
Residual model. More... | |
boost::shared_ptr< StateAbstract > | state_ |
State description. More... | |
VectorXs | unone_ |
No control vector. More... | |
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 CostModelResidualTpl()
, the cost value and its derivatives are calculated by calc
and calcDiff
, respectively.
CostModelResidualTpl
, calc()
, calcDiff()
, createData()
Definition at line 41 of file frame-placement.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 46 of file frame-placement.hpp.
typedef CostModelResidualTpl<Scalar> Base |
Definition at line 47 of file frame-placement.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 48 of file frame-placement.hpp.
typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract |
Definition at line 49 of file frame-placement.hpp.
typedef ResidualModelFramePlacementTpl<Scalar> ResidualModelFramePlacement |
Definition at line 50 of file frame-placement.hpp.
typedef FramePlacementTpl<Scalar> FramePlacement |
Definition at line 51 of file frame-placement.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 52 of file frame-placement.hpp.
typedef MathBase::Matrix6xs Matrix6xs |
Definition at line 53 of file frame-placement.hpp.
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.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | Fref | Reference frame placement |
[in] | nu | Dimension of the control vector |
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()
.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | Fref | Reference frame placement |
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. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)).
[in] | state | State of the multibody system |
[in] | Fref | Reference frame placement |
[in] | nu | Dimension of the control vector |
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()
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | Fref | Reference frame placement |
|
protectedvirtual |
Return the frame placement reference.
Reimplemented from CostModelAbstractTpl< _Scalar >.
|
protectedvirtual |
Modify the frame placement reference.
Reimplemented from CostModelAbstractTpl< _Scalar >.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 45 of file frame-placement.hpp.
|
protected |
Activation model.
Definition at line 128 of file cost-base.hpp.
|
protected |
Control dimension.
Definition at line 129 of file cost-base.hpp.
|
protected |
Residual model.
Definition at line 130 of file cost-base.hpp.
|
protected |
State description.
Definition at line 131 of file cost-base.hpp.
|
protected |
No control vector.
Definition at line 132 of file cost-base.hpp.