Centroidal momentum cost. More...
#include <crocoddyl/multibody/costs/centroidal-momentum.hpp>
Public Member Functions | |
CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector6s &mref) | |
Initialize the centroidal momentum cost model. More... | |
CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector6s &mref, const std::size_t nu) | |
Initialize the centroidal momentum cost model. More... | |
CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &mref) | |
Initialize the centroidal momentum cost model. More... | |
CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &mref, const std::size_t nu) | |
Initialize the centroidal momentum 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 centroidal momentum reference. More... | |
virtual void | set_referenceImpl (const std::type_info &ti, const void *pv) |
Modify the centroidal momentum 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... | |
Centroidal momentum cost.
This cost function defines a residual vector 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.
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 37 of file centroidal-momentum.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 42 of file centroidal-momentum.hpp.
typedef CostModelResidualTpl<Scalar> Base |
Definition at line 43 of file centroidal-momentum.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 44 of file centroidal-momentum.hpp.
typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract |
Definition at line 45 of file centroidal-momentum.hpp.
typedef ResidualModelCentroidalMomentumTpl<Scalar> ResidualModelCentroidalMomentum |
Definition at line 46 of file centroidal-momentum.hpp.
typedef MathBase::Vector6s Vector6s |
Definition at line 47 of file centroidal-momentum.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 48 of file centroidal-momentum.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 49 of file centroidal-momentum.hpp.
typedef MathBase::Matrix6xs Matrix6xs |
Definition at line 50 of file centroidal-momentum.hpp.
CostModelCentroidalMomentumTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const Vector6s & | mref, | ||
const std::size_t | nu | ||
) |
Initialize the centroidal momentum cost model.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | mref | Reference centroidal momentum |
[in] | nu | Dimension of the control vector |
CostModelCentroidalMomentumTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const Vector6s & | mref | ||
) |
Initialize the centroidal momentum cost model.
The default nu
is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | mref | Reference centroidal momentum |
CostModelCentroidalMomentumTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const Vector6s & | mref, | ||
const std::size_t | nu | ||
) |
Initialize the centroidal momentum 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] | mref | Reference centroidal momentum |
[in] | nu | Dimension of the control vector |
CostModelCentroidalMomentumTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const Vector6s & | mref | ||
) |
Initialize the centroidal momentum cost model.
We use ActivationModelQuadTpl
as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)). Furthermore, the default nu
value is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | mref | Reference centroidal momentum |
|
protectedvirtual |
Modify the centroidal momentum reference.
Reimplemented from CostModelAbstractTpl< _Scalar >.
|
protectedvirtual |
Return the centroidal momentum reference.
Reimplemented from CostModelAbstractTpl< _Scalar >.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 41 of file centroidal-momentum.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.