Centroidal momentum residual. More...
#include <crocoddyl/multibody/residuals/centroidal-momentum.hpp>
Public Types | |
typedef ActivationModelAbstractTpl< Scalar > | ActivationModelAbstract |
typedef ResidualModelAbstractTpl< Scalar > | Base |
typedef ResidualDataCentroidalMomentumTpl< Scalar > | Data |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::Matrix6xs | Matrix6xs |
typedef ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::Vector6s | Vector6s |
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 | |
ResidualModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &href) | |
Initialize the centroidal momentum residual model. More... | |
ResidualModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &href, const std::size_t nu) | |
Initialize the centroidal momentum 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 centroidal momentum 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 centroidal momentum residual. More... | |
virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the centroidal momentum residual data. More... | |
const Vector6s & | get_reference () const |
Return the reference centroidal momentum. | |
virtual void | print (std::ostream &os) const |
Print relevant information of the centroidal-momentum residual. More... | |
void | set_reference (const Vector6s &href) |
Modify the reference centroidal momentum. | |
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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... | |
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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... | |
Centroidal momentum residual.
This residual function defines the centroidal momentum tracking as \(\mathbf{r}=\mathbf{h}-\mathbf{h}^*\), where \(\mathbf{h},\mathbf{h}^*\in~\mathcal{X}\) are the current and reference centroidal momenta, respectively. Note that the dimension of the residual vector is 6. 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 centroidal-momentum.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 38 of file centroidal-momentum.hpp.
typedef ResidualModelAbstractTpl<Scalar> Base |
Definition at line 39 of file centroidal-momentum.hpp.
typedef ResidualDataCentroidalMomentumTpl<Scalar> Data |
Definition at line 40 of file centroidal-momentum.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 41 of file centroidal-momentum.hpp.
typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract |
Definition at line 42 of file centroidal-momentum.hpp.
typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract |
Definition at line 43 of file centroidal-momentum.hpp.
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
Definition at line 44 of file centroidal-momentum.hpp.
typedef MathBase::Vector6s Vector6s |
Definition at line 45 of file centroidal-momentum.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 46 of file centroidal-momentum.hpp.
typedef MathBase::Matrix6xs Matrix6xs |
Definition at line 47 of file centroidal-momentum.hpp.
ResidualModelCentroidalMomentumTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const Vector6s & | href, | ||
const std::size_t | nu | ||
) |
Initialize the centroidal momentum residual model.
[in] | state | State of the multibody system |
[in] | href | Reference centroidal momentum |
[in] | nu | Dimension of the control vector |
ResidualModelCentroidalMomentumTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const Vector6s & | href | ||
) |
Initialize the centroidal momentum residual model.
The default nu
is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | href | Reference centroidal momentum |
|
virtual |
Compute the centroidal momentum residual.
[in] | data | Centroidal momentum 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 centroidal momentum residual.
[in] | data | Centroidal momentum 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 centroidal momentum residual data.
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
|
virtual |
Print relevant information of the centroidal-momentum residual.
[out] | os | Output stream object |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 37 of file centroidal-momentum.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.