CoM position cost. More...
#include <crocoddyl/multibody/costs/com-position.hpp>
Public Types | |
typedef ActivationModelAbstractTpl< Scalar > | ActivationModelAbstract |
typedef CostModelAbstractTpl< Scalar > | Base |
typedef CostDataAbstractTpl< Scalar > | CostDataAbstract |
typedef CostDataCoMPositionTpl< Scalar > | Data |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::Vector3s | Vector3s |
typedef MathBase::VectorXs | VectorXs |
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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 StateAbstractTpl< Scalar > | StateAbstract |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
CostModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector3s &cref, const std::size_t &nu) | |
Initialize the CoM position cost model. More... | |
CostModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector3s &cref) | |
Initialize the CoM position cost model. More... | |
CostModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, const Vector3s &cref, const std::size_t &nu) | |
Initialize the CoM position cost model. More... | |
CostModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, const Vector3s &cref) | |
Initialize the CoM position cost model. More... | |
virtual void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Compute the CoM position cost. 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 CoM position cost. More... | |
virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the cost data. More... | |
DEPRECATED ("Use set_reference<MathBaseTpl<Scalar>::Vector3s>()", void set_cref(const Vector3s &cref_in)) | |
DEPRECATED ("Use get_reference<MathBaseTpl<Scalar>::Vector3s>()", const Vector3s &get_cref() 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... | |
CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation) | |
CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nr, const std::size_t &nu) | |
CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nr) | |
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... | |
void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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... | |
void | calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
const boost::shared_ptr< ActivationModelAbstract > & | get_activation () const |
Return the activation model. | |
const std::size_t & | get_nu () const |
Return the dimension of the control input. | |
template<class ReferenceType > | |
ReferenceType | get_reference () const |
Return the cost reference. | |
const boost::shared_ptr< StateAbstract > & | get_state () const |
Return the state. | |
template<class ReferenceType > | |
void | set_reference (ReferenceType ref) |
Modify the cost reference. | |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Member Functions | |
virtual void | get_referenceImpl (const std::type_info &ti, void *pv) const |
Return the CoM position reference. | |
virtual void | set_referenceImpl (const std::type_info &ti, const void *pv) |
Modify the CoM position reference. | |
Additional Inherited Members | |
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boost::shared_ptr< ActivationModelAbstract > | activation_ |
Activation model. | |
std::size_t | nu_ |
Control dimension. | |
boost::shared_ptr< StateAbstract > | state_ |
State description. | |
VectorXs | unone_ |
No control vector. | |
CoM position cost.
This cost function defines a residual vector as \(\mathbf{r}=\mathbf{c}-\mathbf{c}^*\), where \(\mathbf{c},\mathbf{c}^*\in~\mathbb{R}^3\) are the current and reference CoM position, respetively. Note that the dimension of the residual vector is obtained from 3.
Both cost and residual derivatives are computed analytically. For the computation of the cost Hessian, we use the Gauss-Newton approximation, e.g. \(\mathbf{l_{xx}} = \mathbf{l_{x}}^T \mathbf{l_{x}} \).
As described in CostModelAbstractTpl(), the cost value and its derivatives are calculated by calc
and calcDiff
, respectively.
CostModelAbstractTpl
, calc()
, calcDiff()
, createData()
Definition at line 38 of file com-position.hpp.
CostModelCoMPositionTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const Vector3s & | cref, | ||
const std::size_t & | nu | ||
) |
Initialize the CoM position cost model.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | cref | Reference CoM position |
[in] | nu | Dimension of the control vector |
CostModelCoMPositionTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const Vector3s & | cref | ||
) |
Initialize the CoM position cost model.
The default nu
value is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | cref | Reference CoM position |
CostModelCoMPositionTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const Vector3s & | cref, | ||
const std::size_t & | nu | ||
) |
Initialize the CoM position cost model.
We use ActivationModelQuadTpl
as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)).
[in] | state | State of the multibody system |
[in] | cref | Reference CoM position |
[in] | nu | Dimension of the control vector |
CostModelCoMPositionTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const Vector3s & | cref | ||
) |
Initialize the CoM position cost model.
We use ActivationModelQuadTpl
as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)). The default nu
value is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | cref | Reference CoM position |
|
virtual |
Compute the CoM position cost.
[in] | data | CoM position cost data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
|
virtual |
Compute the derivatives of the CoM position cost.
[in] | data | CoM position cost data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
|
virtual |
Create the cost data.
The default data contains objects to store the values of the cost, residual vector and their derivatives (first and second order derivatives). However, it is possible to specialized this function is we need to create additional data, for instance, to avoid dynamic memory allocation.
data | Data collector |
Reimplemented from CostModelAbstractTpl< _Scalar >.