crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
Loading...
Searching...
No Matches
ActuationSquashingModelTpl< _Scalar > Class Template Reference
Inheritance diagram for ActuationSquashingModelTpl< _Scalar >:
Collaboration diagram for ActuationSquashingModelTpl< _Scalar >:

Public Types

typedef ActuationDataAbstractTpl< Scalar > ActuationDataAbstract
 
typedef ActuationModelAbstractTpl< Scalar > ActuationModelAbstract
 
typedef ActuationModelAbstractTpl< Scalar > Base
 
typedef ActuationSquashingDataTpl< Scalar > Data
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef SquashingModelAbstractTpl< Scalar > SquashingModelAbstract
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActuationModelAbstractTpl< _Scalar >
typedef ActuationDataAbstractTpl< Scalar > ActuationDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 ActuationSquashingModelTpl (boost::shared_ptr< ActuationModelAbstract > actuation, boost::shared_ptr< SquashingModelAbstract > squashing, const std::size_t nu)
 
virtual void calc (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and control input \(\mathbf{u}\in\mathbb{R}^{nu}\). More...
 
virtual void calcDiff (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the Jacobians of the actuation function. More...
 
boost::shared_ptr< ActuationDataAbstractcreateData ()
 Create the actuation data. More...
 
const boost::shared_ptr< ActuationModelAbstract > & get_actuation () const
 
const boost::shared_ptr< SquashingModelAbstract > & get_squashing () const
 
- Public Member Functions inherited from ActuationModelAbstractTpl< _Scalar >
 ActuationModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu)
 Initialize the actuation model. More...
 
void calc (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 Ignore the computation of the actuation signal. More...
 
virtual void calc (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and control input \(\mathbf{u}\in\mathbb{R}^{nu}\). More...
 
void calcDiff (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 Ignore the computation of the Jacobians of the actuation function. More...
 
virtual void calcDiff (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 Compute the Jacobians of the actuation function. More...
 
virtual boost::shared_ptr< ActuationDataAbstractcreateData ()
 Create the actuation data. More...
 
std::size_t get_nu () const
 Return the dimension of the control input.
 
const boost::shared_ptr< StateAbstract > & get_state () const
 Return the state.
 
virtual void print (std::ostream &os) const
 Print relevant information of the residual model. More...
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from ActuationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Attributes

boost::shared_ptr< ActuationModelAbstractactuation_
 
boost::shared_ptr< SquashingModelAbstractsquashing_
 
- Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t nu_
 Control dimension. More...
 
boost::shared_ptr< StateAbstractstate_
 Model of the state. More...
 

Detailed Description

template<typename _Scalar>
class crocoddyl::ActuationSquashingModelTpl< _Scalar >

Definition at line 19 of file actuation-squashing.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 24 of file actuation-squashing.hpp.

◆ Base

Definition at line 25 of file actuation-squashing.hpp.

◆ Data

Definition at line 26 of file actuation-squashing.hpp.

◆ ActuationModelAbstract

Definition at line 27 of file actuation-squashing.hpp.

◆ ActuationDataAbstract

Definition at line 28 of file actuation-squashing.hpp.

◆ SquashingModelAbstract

Definition at line 29 of file actuation-squashing.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 30 of file actuation-squashing.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 31 of file actuation-squashing.hpp.

Constructor & Destructor Documentation

◆ ActuationSquashingModelTpl()

ActuationSquashingModelTpl ( boost::shared_ptr< ActuationModelAbstract actuation,
boost::shared_ptr< SquashingModelAbstract squashing,
const std::size_t  nu 
)
inline

Definition at line 33 of file actuation-squashing.hpp.

◆ ~ActuationSquashingModelTpl()

virtual ~ActuationSquashingModelTpl ( )
inlinevirtual

Definition at line 37 of file actuation-squashing.hpp.

Member Function Documentation

◆ calc()

virtual void calc ( const boost::shared_ptr< ActuationDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
inlinevirtual

Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and control input \(\mathbf{u}\in\mathbb{R}^{nu}\).

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

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 39 of file actuation-squashing.hpp.

◆ calcDiff()

virtual void calcDiff ( const boost::shared_ptr< ActuationDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
inlinevirtual

Compute the Jacobians of the actuation function.

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

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 48 of file actuation-squashing.hpp.

◆ createData()

boost::shared_ptr< ActuationDataAbstract > createData ( )
inlinevirtual

Create the actuation data.

Returns
the actuation data

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 57 of file actuation-squashing.hpp.

◆ get_squashing()

const boost::shared_ptr< SquashingModelAbstract > & get_squashing ( ) const
inline

Definition at line 61 of file actuation-squashing.hpp.

◆ get_actuation()

const boost::shared_ptr< ActuationModelAbstract > & get_actuation ( ) const
inline

Definition at line 62 of file actuation-squashing.hpp.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 23 of file actuation-squashing.hpp.

◆ squashing_

boost::shared_ptr<SquashingModelAbstract> squashing_
protected

Definition at line 65 of file actuation-squashing.hpp.

◆ actuation_

boost::shared_ptr<ActuationModelAbstract> actuation_
protected

Definition at line 66 of file actuation-squashing.hpp.


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