crocoddyl 1.9.0
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CostModelCentroidalMomentumTpl< _Scalar > Class Template Reference

Centroidal momentum cost. More...

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

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

Public Types

typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef CostModelResidualTpl< Scalar > Base
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix6xs Matrix6xs
 
typedef MathBase::MatrixXs MatrixXs
 
typedef ResidualModelCentroidalMomentumTpl< Scalar > ResidualModelCentroidalMomentum
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::Vector6s Vector6s
 
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

 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...
 
- 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 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< 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 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::CostModelCentroidalMomentumTpl< _Scalar >

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.

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

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

Member Typedef Documentation

◆ MathBase

typedef MathBaseTpl<Scalar> MathBase

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

◆ Base

typedef CostModelResidualTpl<Scalar> Base

Definition at line 43 of file centroidal-momentum.hpp.

◆ StateMultibody

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

◆ ActivationModelAbstract

◆ ResidualModelCentroidalMomentum

◆ Vector6s

typedef MathBase::Vector6s Vector6s

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

◆ VectorXs

typedef MathBase::VectorXs VectorXs

Definition at line 48 of file centroidal-momentum.hpp.

◆ MatrixXs

typedef MathBase::MatrixXs MatrixXs

Definition at line 49 of file centroidal-momentum.hpp.

◆ Matrix6xs

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 50 of file centroidal-momentum.hpp.

Constructor & Destructor Documentation

◆ CostModelCentroidalMomentumTpl() [1/4]

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.

Parameters
[in]stateState of the multibody system
[in]activationActivation model
[in]mrefReference centroidal momentum
[in]nuDimension of the control vector

◆ CostModelCentroidalMomentumTpl() [2/4]

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().

Parameters
[in]stateState of the multibody system
[in]activationActivation model
[in]mrefReference centroidal momentum

◆ CostModelCentroidalMomentumTpl() [3/4]

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. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)).

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

◆ CostModelCentroidalMomentumTpl() [4/4]

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().

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

Member Function Documentation

◆ set_referenceImpl()

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

Modify the centroidal momentum reference.

Reimplemented from CostModelAbstractTpl< _Scalar >.

◆ get_referenceImpl()

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

Return the centroidal momentum reference.

Reimplemented from CostModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

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

◆ activation_

boost::shared_ptr<ActivationModelAbstract> activation_
protected

Activation model.

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

◆ nu_

std::size_t nu_
protected

Control dimension.

Definition at line 129 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.

◆ unone_

VectorXs unone_
protected

No control vector.

Definition at line 132 of file cost-base.hpp.


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