crocoddyl 1.9.0
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ResidualModelCentroidalMomentumTpl< _Scalar > Class Template Reference

Centroidal momentum residual. More...

#include <crocoddyl/multibody/residuals/centroidal-momentum.hpp>

Inheritance diagram for ResidualModelCentroidalMomentumTpl< _Scalar >:
Collaboration diagram for ResidualModelCentroidalMomentumTpl< _Scalar >:

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
 
- Public Types inherited from ResidualModelAbstractTpl< _Scalar >
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< ResidualDataAbstractcreateData (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.
 
- Public Member Functions inherited from ResidualModelAbstractTpl< _Scalar >
 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< ResidualDataAbstractcreateData (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
 
- Public Attributes inherited from ResidualModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Attributes

std::size_t nu_
 Control dimension. More...
 
boost::shared_ptr< StateAbstractstate_
 State description. More...
 
bool u_dependent_
 Label that indicates if the residual function depends on u. More...
 
VectorXs unone_
 No control vector. More...
 
- Protected Attributes inherited from ResidualModelAbstractTpl< _Scalar >
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< StateAbstractstate_
 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...
 

Detailed Description

template<typename _Scalar>
class crocoddyl::ResidualModelCentroidalMomentumTpl< _Scalar >

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.

See also
ResidualModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 33 of file centroidal-momentum.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 38 of file centroidal-momentum.hpp.

◆ Base

typedef ResidualModelAbstractTpl<Scalar> Base

Definition at line 39 of file centroidal-momentum.hpp.

◆ Data

Definition at line 40 of file centroidal-momentum.hpp.

◆ StateMultibody

Definition at line 41 of file centroidal-momentum.hpp.

◆ ResidualDataAbstract

Definition at line 42 of file centroidal-momentum.hpp.

◆ ActivationModelAbstract

◆ DataCollectorAbstract

Definition at line 44 of file centroidal-momentum.hpp.

◆ Vector6s

typedef MathBase::Vector6s Vector6s

Definition at line 45 of file centroidal-momentum.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 46 of file centroidal-momentum.hpp.

◆ Matrix6xs

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 47 of file centroidal-momentum.hpp.

Constructor & Destructor Documentation

◆ ResidualModelCentroidalMomentumTpl() [1/2]

ResidualModelCentroidalMomentumTpl ( boost::shared_ptr< StateMultibody state,
const Vector6s &  href,
const std::size_t  nu 
)

Initialize the centroidal momentum residual model.

Parameters
[in]stateState of the multibody system
[in]hrefReference centroidal momentum
[in]nuDimension of the control vector

◆ ResidualModelCentroidalMomentumTpl() [2/2]

ResidualModelCentroidalMomentumTpl ( boost::shared_ptr< StateMultibody state,
const Vector6s &  href 
)

Initialize the centroidal momentum residual model.

The default nu is obtained from StateAbstractTpl::get_nv().

Parameters
[in]stateState of the multibody system
[in]hrefReference centroidal momentum

Member Function Documentation

◆ calc()

virtual void calc ( const boost::shared_ptr< ResidualDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

Compute the centroidal momentum residual.

Parameters
[in]dataCentroidal momentum residual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calcDiff()

virtual void calcDiff ( const boost::shared_ptr< ResidualDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

Compute the derivatives of the centroidal momentum residual.

Parameters
[in]dataCentroidal momentum residual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ createData()

virtual boost::shared_ptr< ResidualDataAbstract > createData ( DataCollectorAbstract *const  data)
virtual

Create the centroidal momentum residual data.

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ print()

virtual void print ( std::ostream &  os) const
virtual

Print relevant information of the centroidal-momentum residual.

Parameters
[out]osOutput stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 37 of file centroidal-momentum.hpp.

◆ nu_

std::size_t nu_
protected

Control dimension.

Definition at line 181 of file residual-base.hpp.

◆ state_

boost::shared_ptr<StateAbstract> state_
protected

State description.

Definition at line 179 of file residual-base.hpp.

◆ u_dependent_

bool u_dependent_
protected

Label that indicates if the residual function depends on u.

Definition at line 185 of file residual-base.hpp.

◆ unone_

VectorXs unone_
protected

No control vector.

Definition at line 182 of file residual-base.hpp.


The documentation for this class was generated from the following files: