Impulse friction cone cost. More...
#include <crocoddyl/multibody/costs/impulse-friction-cone.hpp>
Public Member Functions | |
CostModelImpulseFrictionConeTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameFrictionCone &fref) | |
Initialize the impulse friction cone cost model. More... | |
CostModelImpulseFrictionConeTpl (boost::shared_ptr< StateMultibody > state, const FrameFrictionCone &fref) | |
Initialize the impulse friction cone 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 impulse friction cone reference. More... | |
virtual void | set_referenceImpl (const std::type_info &ti, const void *pv) |
Modify the impulse friction cone 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... | |
boost::shared_ptr< ResidualModelAbstract > | residual_ |
Residual model. More... | |
boost::shared_ptr< StateAbstract > | state_ |
State description. 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... | |
Impulse friction cone cost.
This cost function defines a residual vector as \(\mathbf{r}=\mathbf{A}\boldsymbol{\lambda}\), where \(\mathbf{A}\in~\mathbb{R}^{nr\times nc}\) describes the linearized friction cone, \(\boldsymbol{\lambda}\in~\mathbb{R}^{ni}\) is the spatial contact impulse computed by ActionModelImpulseFwdDynamicsTpl
, and nr
, ni
are the number of cone facets and dimension of the impulse, respectively.
Both cost and residual derivatives are computed analytically, where th force vector \(\boldsymbol{\lambda}\) and its derivatives \(\left(\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{x}},
\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{u}}\right)\) are computed by ActionModelImpulseFwdDynamicsTpl
. These values are stored in a shared data (i.e. DataCollectorImpulseTpl
). Note that this cost function cannot be used with other action models. 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.
Definition at line 48 of file impulse-friction-cone.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 53 of file impulse-friction-cone.hpp.
typedef CostModelResidualTpl<Scalar> Base |
Definition at line 54 of file impulse-friction-cone.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 55 of file impulse-friction-cone.hpp.
typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract |
Definition at line 56 of file impulse-friction-cone.hpp.
typedef FrameFrictionConeTpl<Scalar> FrameFrictionCone |
Definition at line 57 of file impulse-friction-cone.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 58 of file impulse-friction-cone.hpp.
CostModelImpulseFrictionConeTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const FrameFrictionCone & | fref | ||
) |
Initialize the impulse friction cone cost model.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | fref | Friction cone |
CostModelImpulseFrictionConeTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const FrameFrictionCone & | fref | ||
) |
Initialize the impulse friction cone 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] | fref | Friction cone |
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protectedvirtual |
Modify the impulse friction cone reference.
Reimplemented from CostModelAbstractTpl< _Scalar >.
|
protectedvirtual |
Return the impulse friction cone reference.
Reimplemented from CostModelAbstractTpl< _Scalar >.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 52 of file impulse-friction-cone.hpp.
|
protected |
Activation model.
Definition at line 128 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.