Define a contact force cost function. More...
#include <crocoddyl/multibody/costs/contact-force.hpp>
Public Types | |
typedef ActivationModelAbstractTpl< Scalar > | ActivationModelAbstract |
typedef CostModelAbstractTpl< Scalar > | Base |
typedef CostDataAbstractTpl< Scalar > | CostDataAbstract |
typedef CostDataContactForceTpl< Scalar > | Data |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef FrameForceTpl< Scalar > | FrameForce |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
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 | |
CostModelContactForceTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameForce &fref, const std::size_t &nu) | |
Initialize the contact force cost model. More... | |
CostModelContactForceTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameForce &fref) | |
Initialize the contact force cost model. More... | |
CostModelContactForceTpl (boost::shared_ptr< StateMultibody > state, const FrameForce &fref, const std::size_t &nr, const std::size_t &nu) | |
Initialize the contact force cost model. More... | |
CostModelContactForceTpl (boost::shared_ptr< StateMultibody > state, const FrameForce &fref, const std::size_t &nr) | |
Initialize the contact force cost model. More... | |
CostModelContactForceTpl (boost::shared_ptr< StateMultibody > state, const FrameForce &fref) | |
Initialize the contact force 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 contact force 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 contact force cost. More... | |
virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the contact force cost data. More... | |
DEPRECATED ("Use set_reference<FrameForceTpl<Scalar> >()", void set_fref(const FrameForce &fref)) | |
DEPRECATED ("Use get_reference<FrameForceTpl<Scalar> >()", const FrameForce &get_fref() 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 |
Modify the reference spatial contact force \(\boldsymbol{\lambda}^*\). | |
virtual void | set_referenceImpl (const std::type_info &ti, const void *pv) |
Return the reference spatial contact force \(\boldsymbol{\lambda}^*\). | |
Protected Attributes | |
FrameForce | fref_ |
Reference spatial contact force \(\boldsymbol{\lambda}^*\). | |
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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. | |
Define a contact force cost function.
This cost function defines a residual vector \(\mathbf{r}=\boldsymbol{\lambda}-\boldsymbol{\lambda}^*\), where \(\boldsymbol{\lambda}, \boldsymbol{\lambda}^*\) are the current and reference spatial forces, respetively. The current spatial forces \(\boldsymbol{\lambda}\in\mathbb{R}^{nc}\)is computed by DifferentialActionModelContactFwdDynamicsTpl
, with nc
as the dimension of the contact.
Both cost and residual derivatives are computed analytically, where th force vector \(\boldsymbol{\lambda}\) and its derivatives \(\left(\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{x}}, \frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{u}}\right)\) are computed by DifferentialActionModelContactFwdDynamicsTpl
. These values are stored in a shared data (i.e. DataCollectorContactTpl). Note that this cost function cannot be used with other action models. For the computation of the cost Hessian, we use the Gauss-Newton approximation, e.g. \(\mathbf{l_{xu}} = \mathbf{l_{x}}^T \mathbf{l_{u}} \).
Definition at line 44 of file contact-force.hpp.
CostModelContactForceTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const FrameForce & | fref, | ||
const std::size_t & | nu | ||
) |
Initialize the contact force cost model.
Note that the nr
, defined in the activation model, has to be lower / equals than 6.
[in] | state | Multibody state |
[in] | activation | Activation model |
[in] | fref | Reference spatial contact force \(\boldsymbol{\lambda}^*\) |
[in] | nu | Dimension of control vector |
CostModelContactForceTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const FrameForce & | fref | ||
) |
Initialize the contact force cost model.
The default nu
is obtained from StateAbstractTpl::get_nv()
. Note that the nr
, defined in the activation model, has to be lower / equals than 6.
[in] | state | Multibody state |
[in] | activation | Activation model |
[in] | fref | Reference spatial contact force \(\boldsymbol{\lambda}^*\) |
CostModelContactForceTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const FrameForce & | fref, | ||
const std::size_t & | nr, | ||
const std::size_t & | nu | ||
) |
Initialize the contact force cost model.
We use ActivationModelQuadTpl
as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)). Note that the nr
, defined in the activation model, has to be lower / equals than 6.
[in] | state | Multibody state |
[in] | fref | Reference spatial contact force \(\boldsymbol{\lambda}^*\) |
[in] | nr | Dimension of residual vector |
[in] | nu | Dimension of control vector |
CostModelContactForceTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const FrameForce & | fref, | ||
const std::size_t & | nr | ||
) |
Initialize the contact force cost model.
We use ActivationModelQuadTpl
as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)), and nu
is obtained from StateAbstractTpl::get_nv()
. Note that the nr
, defined in the activation model, has to be lower / equals than 6.
[in] | state | Multibody state |
[in] | fref | Reference spatial contact force \(\boldsymbol{\lambda}^*\) |
[in] | nr | Dimension of residual vector |
CostModelContactForceTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const FrameForce & | fref | ||
) |
Initialize the contact force cost model.
We use ActivationModelQuadTpl
as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)), and nr
and nu
are equals to 6 and StateAbstractTpl::get_nv()
, respectively.
[in] | state | Multibody state |
[in] | fref | Reference spatial contact force \(\boldsymbol{\lambda}^*\) |
|
virtual |
Compute the contact force cost.
The force vector is computed by DifferentialActionModelContactFwdDynamicsTpl and stored in DataCollectorContactTpl.
[in] | data | Contact force 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 contact force cost.
The force derivatives are computed by DifferentialActionModelContactFwdDynamicsTpl and stored in DataCollectorContactTpl.
[in] | data | Contact force data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
|
virtual |
Create the contact force cost data.
[in] | data | shared data (it should be of type DataCollectorContactTpl) |
Reimplemented from CostModelAbstractTpl< _Scalar >.