Define a control residual. More...
#include <crocoddyl/core/residuals/control.hpp>
Public Types | |
typedef ResidualModelAbstractTpl< Scalar > | Base |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
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 | |
ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state) | |
Initialize the control residual model. More... | |
ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu) | |
Initialize the control residual model. More... | |
ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &uref) | |
Initialize the control 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 control 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 control residual. More... | |
virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the control residual data. More... | |
const VectorXs & | get_reference () const |
Return the reference control vector. | |
virtual void | print (std::ostream &os) const |
Print relevant information of the control residual. More... | |
void | set_reference (const VectorXs &reference) |
Modify the reference control vector. | |
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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... | |
VectorXs | unone_ |
No control vector. 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... | |
Define a control residual.
This residual function is defined as \(\mathbf{r}=\mathbf{u}-\mathbf{u}^*\), where \(\mathbf{u},\mathbf{u}^*\in~\mathbb{R}^{nu}\) are the current and reference control inputs, respectively. Note that the dimension of the residual vector is obtained from nu
.
Both residual and residual Jacobians 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 32 of file control.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 37 of file control.hpp.
typedef ResidualModelAbstractTpl<Scalar> Base |
Definition at line 38 of file control.hpp.
typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract |
Definition at line 39 of file control.hpp.
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
Definition at line 40 of file control.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 41 of file control.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 42 of file control.hpp.
ResidualModelControlTpl | ( | boost::shared_ptr< typename Base::StateAbstract > | state, |
const VectorXs & | uref | ||
) |
Initialize the control residual model.
The default nu
value is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | uref | Reference control input |
ResidualModelControlTpl | ( | boost::shared_ptr< typename Base::StateAbstract > | state, |
const std::size_t | nu | ||
) |
Initialize the control residual model.
The default nu
value is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | nu | Dimension of the control vector |
|
explicit |
Initialize the control residual model.
The default reference control is obtained from MathBaseTpl<>::VectorXs::Zero(nu)
.
[in] | state | State of the multibody system |
|
virtual |
Compute the control residual.
[in] | data | Control 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 residual vector for nodes that depends only on the state.
It updates the residual vector based on the state only. This function is used in the terminal nodes of an optimal control problem.
[in] | data | Residual data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
|
virtual |
Compute the derivatives of the control residual.
[in] | data | Control 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 control residual data.
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
|
virtual |
Print relevant information of the control residual.
[out] | os | Output stream object |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 36 of file control.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 |
No control vector.
Definition at line 182 of file residual-base.hpp.