crocoddyl  1.9.0
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ResidualModelControlTpl< _Scalar > Class Template Reference

Define a control residual. More...

#include <crocoddyl/core/residuals/control.hpp>

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

Public Types

typedef ResidualModelAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef ResidualDataAbstractTpl< Scalar > ResidualDataAbstract
 
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

 ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &uref)
 Initialize the control residual model. More...
 
 ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu)
 Initialize the control residual model. More...
 
 ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state)
 Initialize the control 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 control residual. More...
 
virtual void calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
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 control residual. More...
 
virtual boost::shared_ptr< ResidualDataAbstractcreateData (DataCollectorAbstract *const data)
 Create the control residual data.
 
const VectorXs & get_reference () const
 Return the reference control vector.
 
virtual void print (std::ostream &os) const
 Print relevant information of the control residual. More...
 
void set_reference (const VectorXs &reference)
 Modify the reference control vector.
 
- Public Member Functions inherited from ResidualModelAbstractTpl< _Scalar >
 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...
 
 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)
 
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...
 
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.
 

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

Detailed Description

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

Define a control residual.

This residual function is defined as \(\mathbf{r}=\mathbf{u}-\mathbf{u}^*\), where \(\mathbf{u},\mathbf{u}^*\in~\mathbb{R}^{nu}\) are the current and reference control inputs, respectively. Note that the dimension of the residual vector is obtained from nu.

Both residual and residual Jacobians 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 184 of file fwd.hpp.

Constructor & Destructor Documentation

◆ ResidualModelControlTpl() [1/3]

ResidualModelControlTpl ( boost::shared_ptr< typename Base::StateAbstract state,
const VectorXs &  uref 
)

Initialize the control residual model.

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

Parameters
[in]stateState of the multibody system
[in]urefReference control input

◆ ResidualModelControlTpl() [2/3]

ResidualModelControlTpl ( boost::shared_ptr< typename Base::StateAbstract state,
const std::size_t  nu 
)

Initialize the control residual model.

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

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

◆ ResidualModelControlTpl() [3/3]

ResidualModelControlTpl ( boost::shared_ptr< typename Base::StateAbstract state)
explicit

Initialize the control residual model.

The default reference control is obtained from MathBaseTpl<>::VectorXs::Zero(nu).

Parameters
[in]stateState of the multibody system

Member Function Documentation

◆ calc() [1/2]

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

Compute the control residual.

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

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

It updates the residual vector based on the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters
[in]dataResidual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

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 control residual.

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ print()

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

Print relevant information of the control residual.

Parameters
[out]osOutput stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.


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