Define a contact force residual function. More...
#include <crocoddyl/multibody/residuals/contact-force.hpp>
Public Types | |
typedef ResidualModelAbstractTpl< Scalar > | Base |
typedef ResidualDataContactForceTpl< Scalar > | Data |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef pinocchio::ForceTpl< Scalar > | Force |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
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 | |
ResidualModelContactForceTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Force &fref, const std::size_t nc) | |
Initialize the contact force residual model. More... | |
ResidualModelContactForceTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Force &fref, const std::size_t nc, const std::size_t nu) | |
Initialize the contact force 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 contact force residual. 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 derivatives of the contact force residual. More... | |
virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the contact force residual data. More... | |
pinocchio::FrameIndex | get_id () const |
Return the reference frame id. | |
const Force & | get_reference () const |
Return the reference spatial contact force in the contact coordinates. | |
virtual void | print (std::ostream &os) const |
Print relevant information of the contact-force residual. More... | |
void | set_id (const pinocchio::FrameIndex id) |
Modify the reference frame id. | |
void | set_reference (const Force &reference) |
Modify the reference spatial contact force in the contact coordinates. | |
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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 | nr_ |
Residual vector dimension. More... | |
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 contact force residual function.
This residual function is defined as \(\mathbf{r}=\boldsymbol{\lambda}-\boldsymbol{\lambda}^*\), where \(\boldsymbol{\lambda}, \boldsymbol{\lambda}^*\) are the current and reference spatial forces, respectively. The current spatial forces \(\boldsymbol{\lambda}\in\mathbb{R}^{nc}\) is computed by DifferentialActionModelContactFwdDynamicsTpl
or ActionModelImpulseFwdDynamicTpl
, with nc
as the dimension of the contact.
Both residual and residual Jacobians are computed analytically, where the force vector \(\boldsymbol{\lambda}\) and its Jacobians \(\left(\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{x}},
\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{u}}\right)\) are computed by DifferentialActionModelContactFwdDynamicsTpl
or ActionModelImpulseFwdDynamicTpl
. These values are stored in a shared data (i.e., DataCollectorContactTpl
or DataCollectorImpulseTpl
). Note that this residual function cannot be used with other action models.
ResidualModelAbstractTpl
, calc()
, calcDiff()
, createData()
, DifferentialActionModelContactFwdDynamicsTpl
, ActionModelImpulseFwdDynamicTpl
, DataCollectorContactTpl
, DataCollectorImpulseTpl
Definition at line 51 of file contact-force.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 56 of file contact-force.hpp.
typedef ResidualModelAbstractTpl<Scalar> Base |
Definition at line 57 of file contact-force.hpp.
typedef ResidualDataContactForceTpl<Scalar> Data |
Definition at line 58 of file contact-force.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 59 of file contact-force.hpp.
typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract |
Definition at line 60 of file contact-force.hpp.
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
Definition at line 61 of file contact-force.hpp.
typedef pinocchio::ForceTpl<Scalar> Force |
Definition at line 62 of file contact-force.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 63 of file contact-force.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 64 of file contact-force.hpp.
ResidualModelContactForceTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const pinocchio::FrameIndex | id, | ||
const Force & | fref, | ||
const std::size_t | nc, | ||
const std::size_t | nu | ||
) |
Initialize the contact force residual model.
[in] | state | Multibody state |
[in] | id | Reference frame id |
[in] | fref | Reference spatial contact force in the contact coordinates |
[in] | nc | Dimension of the contact force (nc <= 6) |
[in] | nu | Dimension of control vector |
ResidualModelContactForceTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const pinocchio::FrameIndex | id, | ||
const Force & | fref, | ||
const std::size_t | nc | ||
) |
Initialize the contact force residual model.
The default nu
is obtained from StateAbstractTpl::get_nv()
.
[in] | state | Multibody state |
[in] | id | Reference frame id |
[in] | fref | Reference spatial contact force in the contact coordinates |
[in] | nc | Dimension of the contact force (nc <= 6) |
|
virtual |
Compute the contact force residual.
The CoP residual is computed based on the \(\mathbf{A}\) matrix, the force vector is computed by DifferentialActionModelContactFwdDynamicsTpl
or ActionModelImpulseFwdDynamicTpl
which is stored in DataCollectorContactTpl
or DataCollectorImpulseTpl
.
[in] | data | Contact force 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 (i.e., it ignores the contact forces). 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 contact force residual.
The CoP residual is computed based on the \(\mathbf{A}\) matrix, the force vector is computed by DifferentialActionModelContactFwdDynamicsTpl
or ActionModelImpulseFwdDynamicTpl
which is stored in DataCollectorContactTpl
or DataCollectorImpulseTpl
.
[in] | data | Contact force 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 Jacobian of the residual functions with respect to the state only.
It updates the Jacobian of the residual function based on the state only (i.e., it ignores the contact forces). 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 |
Create the contact force residual data.
[in] | data | shared data (it should be of type DataCollectorContactTpl) |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
|
virtual |
Print relevant information of the contact-force residual.
[out] | os | Output stream object |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 55 of file contact-force.hpp.
|
protected |
Residual vector dimension.
Definition at line 180 of file residual-base.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.