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| 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...
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| CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector6s &mref) |
| Initialize the centroidal momentum cost model. More...
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| CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &mref, const std::size_t &nu) |
| Initialize the centroidal momentum cost model. More...
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| CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &mref) |
| Initialize the centroidal momentum cost model. More...
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virtual void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the centroidal momentum cost. More...
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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 centroidal momentum cost. More...
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virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
| Create the centroidal momentum cost data.
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| DEPRECATED ("Use set_reference<MathBaseTpl<Scalar>::Vector6s>()", void set_href(const Vector6s &mref_in)) |
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| DEPRECATED ("Use get_reference<MathBaseTpl<Scalar>::Vector6s>()", const Vector6s &get_href() const) |
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t &nu) |
| Initialize the cost model. More...
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation) |
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nr, const std::size_t &nu) |
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nr) |
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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...
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void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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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...
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void | calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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const boost::shared_ptr< ActivationModelAbstract > & | get_activation () const |
| Return the activation model.
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const std::size_t & | get_nu () const |
| Return the dimension of the control input.
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template<class ReferenceType > |
ReferenceType | get_reference () const |
| Return the cost reference.
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const boost::shared_ptr< StateAbstract > & | get_state () const |
| Return the state.
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template<class ReferenceType > |
void | set_reference (ReferenceType ref) |
| Modify the cost reference.
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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, respetively. 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 CostModelAbstractTpl(), the cost value and its derivatives are calculated by calc
and calcDiff
, respectively.
- See also
CostModelAbstractTpl
, calc()
, calcDiff()
, createData()
Definition at line 38 of file centroidal-momentum.hpp.