crocoddyl 1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
 
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CostModelImpulseWrenchConeTpl< _Scalar > Class Template Reference
Inheritance diagram for CostModelImpulseWrenchConeTpl< _Scalar >:
Collaboration diagram for CostModelImpulseWrenchConeTpl< _Scalar >:

Public Types

typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef CostModelResidualTpl< Scalar > Base
 
typedef FrameWrenchConeTpl< Scalar > FrameWrenchCone
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixX6s MatrixX6s
 
typedef MathBase::MatrixXs MatrixXs
 
typedef ResidualModelContactWrenchConeTpl< Scalar > ResidualModelContactWrenchCone
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from CostModelResidualTpl< _Scalar >
typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef CostModelAbstractTpl< Scalar > Base
 
typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef CostDataResidualTpl< Scalar > Data
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef ResidualModelAbstractTpl< Scalar > ResidualModelAbstract
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from CostModelAbstractTpl< _Scalar >
typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef ActivationModelQuadTpl< Scalar > ActivationModelQuad
 
typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef ResidualModelAbstractTpl< Scalar > ResidualModelAbstract
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 CostModelImpulseWrenchConeTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameWrenchCone &fref)
 
 CostModelImpulseWrenchConeTpl (boost::shared_ptr< StateMultibody > state, const FrameWrenchCone &fref)
 
- Public Member Functions inherited from CostModelResidualTpl< _Scalar >
 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< CostDataAbstractcreateData (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...
 
- Public Member Functions inherited from CostModelAbstractTpl< _Scalar >
 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< CostDataAbstractcreateData (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
 
- Public Attributes inherited from CostModelResidualTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from CostModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Member Functions

virtual void get_referenceImpl (const std::type_info &ti, void *pv)
 Return the cost reference. More...
 
virtual void set_referenceImpl (const std::type_info &ti, const void *pv)
 Modify the cost 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< ActivationModelAbstractactivation_
 Activation model. More...
 
boost::shared_ptr< ResidualModelAbstractresidual_
 Residual model. More...
 
boost::shared_ptr< StateAbstractstate_
 State description. More...
 
- Protected Attributes inherited from CostModelResidualTpl< _Scalar >
boost::shared_ptr< ActivationModelAbstractactivation_
 Activation model. More...
 
std::size_t nu_
 Control dimension. More...
 
boost::shared_ptr< ResidualModelAbstractresidual_
 Residual model. More...
 
boost::shared_ptr< StateAbstractstate_
 State description. More...
 
VectorXs unone_
 No control vector. More...
 
- Protected Attributes inherited from CostModelAbstractTpl< _Scalar >
boost::shared_ptr< ActivationModelAbstractactivation_
 Activation model. More...
 
std::size_t nu_
 Control dimension. More...
 
boost::shared_ptr< ResidualModelAbstractresidual_
 Residual model. More...
 
boost::shared_ptr< StateAbstractstate_
 State description. More...
 
VectorXs unone_
 No control vector. More...
 

Detailed Description

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

Definition at line 26 of file impulse-wrench-cone.hpp.

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

Definition at line 31 of file impulse-wrench-cone.hpp.

◆ Base

typedef CostModelResidualTpl<Scalar> Base

Definition at line 32 of file impulse-wrench-cone.hpp.

◆ StateMultibody

Definition at line 33 of file impulse-wrench-cone.hpp.

◆ ActivationModelAbstract

◆ ResidualModelContactWrenchCone

◆ FrameWrenchCone

Definition at line 36 of file impulse-wrench-cone.hpp.

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 37 of file impulse-wrench-cone.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 38 of file impulse-wrench-cone.hpp.

◆ MatrixX6s

typedef MathBase::MatrixX6s MatrixX6s

Definition at line 39 of file impulse-wrench-cone.hpp.

Member Function Documentation

◆ set_referenceImpl()

virtual void set_referenceImpl ( const std::type_info &  ,
const void *   
)
protectedvirtual

Modify the cost reference.

Reimplemented from CostModelAbstractTpl< _Scalar >.

◆ get_referenceImpl()

virtual void get_referenceImpl ( const std::type_info &  ,
void *   
)
protectedvirtual

Return the cost reference.

Reimplemented from CostModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 30 of file impulse-wrench-cone.hpp.

◆ activation_

boost::shared_ptr<ActivationModelAbstract> activation_
protected

Activation model.

Definition at line 128 of file cost-base.hpp.

◆ residual_

boost::shared_ptr<ResidualModelAbstract> residual_
protected

Residual model.

Definition at line 130 of file cost-base.hpp.

◆ state_

boost::shared_ptr<StateAbstract> state_
protected

State description.

Definition at line 131 of file cost-base.hpp.


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