CoM position residual. More...
#include <crocoddyl/multibody/residuals/com-position.hpp>
Public Types | |
typedef ResidualModelAbstractTpl< Scalar > | Base |
typedef ResidualDataCoMPositionTpl< Scalar > | Data |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::Vector3s | Vector3s |
typedef MathBase::VectorXs | VectorXs |
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typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
typedef StateAbstractTpl< Scalar > | StateAbstract |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
ResidualModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, const Vector3s &cref) | |
Initialize the CoM position residual model. More... | |
ResidualModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, const Vector3s &cref, const std::size_t nu) | |
Initialize the CoM position residual model. More... | |
virtual void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Compute the CoM position residual. More... | |
virtual void | calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Compute the derivatives of the CoM position residual. More... | |
virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the residual data. More... | |
const Vector3s & | get_reference () const |
Return the CoM position reference. | |
virtual void | print (std::ostream &os) const |
Print relevant information of the com-position residual. More... | |
void | set_reference (const Vector3s &cref) |
Modify the CoM position reference. | |
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ResidualModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const bool q_dependent=true, const bool v_dependent=true, const bool u_dependent=true) | |
ResidualModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu, const bool q_dependent=true, const bool v_dependent=true, const bool u_dependent=true) | |
Initialize the residual model. More... | |
virtual void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the residual vector for nodes that depends only on the state. More... | |
virtual void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Compute the residual vector. More... | |
virtual void | calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the Jacobian of the residual functions with respect to the state only. More... | |
virtual void | calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Compute the Jacobian of the residual vector. More... | |
virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the residual data. More... | |
std::size_t | get_nr () const |
Return the dimension of the residual vector. | |
std::size_t | get_nu () const |
Return the dimension of the control input. | |
bool | get_q_dependent () const |
Return true if the residual function depends on q. | |
const boost::shared_ptr< StateAbstract > & | get_state () const |
Return the state. | |
bool | get_u_dependent () const |
Return true if the residual function depends on u. | |
bool | get_v_dependent () const |
Return true if the residual function depends on v. | |
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 |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Attributes | |
std::size_t | nu_ |
Control dimension. More... | |
boost::shared_ptr< StateAbstract > | state_ |
State description. More... | |
bool | u_dependent_ |
Label that indicates if the residual function depends on u. More... | |
VectorXs | unone_ |
No control vector. More... | |
bool | v_dependent_ |
Label that indicates if the residual function depends on v. More... | |
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std::size_t | nr_ |
Residual vector dimension. More... | |
std::size_t | nu_ |
Control dimension. More... | |
bool | q_dependent_ |
Label that indicates if the residual function depends on q. More... | |
boost::shared_ptr< StateAbstract > | state_ |
State description. More... | |
bool | u_dependent_ |
Label that indicates if the residual function depends on u. More... | |
VectorXs | unone_ |
No control vector. More... | |
bool | v_dependent_ |
Label that indicates if the residual function depends on v. More... | |
CoM position residual.
This residual function defines the CoM tracking as \(\mathbf{r}=\mathbf{c}-\mathbf{c}^*\), where \(\mathbf{c},\mathbf{c}^*\in~\mathbb{R}^3\) are the current and reference CoM position, respectively. Note that the dimension of the residual vector is obtained from 3. Furthermore, the Jacobians of the residual function are computed analytically.
As described in ResidualModelAbstractTpl()
, the residual value and its Jacobians are calculated by calc
and calcDiff
, respectively.
ResidualModelAbstractTpl
, calc()
, calcDiff()
, createData()
Definition at line 33 of file com-position.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 38 of file com-position.hpp.
typedef ResidualModelAbstractTpl<Scalar> Base |
Definition at line 39 of file com-position.hpp.
typedef ResidualDataCoMPositionTpl<Scalar> Data |
Definition at line 40 of file com-position.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 41 of file com-position.hpp.
typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract |
Definition at line 42 of file com-position.hpp.
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
Definition at line 43 of file com-position.hpp.
typedef MathBase::Vector3s Vector3s |
Definition at line 44 of file com-position.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 45 of file com-position.hpp.
ResidualModelCoMPositionTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const Vector3s & | cref, | ||
const std::size_t | nu | ||
) |
Initialize the CoM position residual model.
[in] | state | State of the multibody system |
[in] | cref | Reference CoM position |
[in] | nu | Dimension of the control vector |
ResidualModelCoMPositionTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const Vector3s & | cref | ||
) |
Initialize the CoM position residual model.
The default nu
value is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | cref | Reference CoM position |
|
virtual |
Compute the CoM position residual.
[in] | data | CoM position residual data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
|
virtual |
Compute the derivatives of the CoM position residual.
[in] | data | CoM position residual data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
|
virtual |
Create the residual data.
The default data contains objects to store the values of the residual vector and their Jacobians. However, it is possible to specialized this function if we need to create additional data, for instance, to avoid dynamic memory allocation.
data | Data collector |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
|
virtual |
Print relevant information of the com-position residual.
[out] | os | Output stream object |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 37 of file com-position.hpp.
|
protected |
Control dimension.
Definition at line 181 of file residual-base.hpp.
|
protected |
State description.
Definition at line 179 of file residual-base.hpp.
|
protected |
Label that indicates if the residual function depends on u.
Definition at line 185 of file residual-base.hpp.
|
protected |
No control vector.
Definition at line 182 of file residual-base.hpp.
|
protected |
Label that indicates if the residual function depends on v.
Definition at line 184 of file residual-base.hpp.