crocoddyl  1.7.0
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ActuationModelFullTpl< _Scalar > Class Template Reference

Full actuation model. More...

#include <crocoddyl/multibody/actuations/full.hpp>

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

Public Types

typedef ActuationModelAbstractTpl< Scalar > Base
 
typedef ActuationDataAbstractTpl< Scalar > Data
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef _Scalar Scalar
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ActuationModelAbstractTpl< _Scalar >
typedef ActuationDataAbstractTpl< Scalar > ActuationDataAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 ActuationModelFullTpl (boost::shared_ptr< StateAbstract > state)
 Initialize the full actuation model. More...
 
virtual void calc (const boost::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &u)
 Compute the full actuation. More...
 
virtual void calcDiff (const boost::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &)
 Compute the Jacobians of the full actuation model. More...
 
virtual boost::shared_ptr< DatacreateData ()
 Create the full actuation data. More...
 
- Public Member Functions inherited from ActuationModelAbstractTpl< _Scalar >
 ActuationModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu)
 
std::size_t get_nu () const
 
const boost::shared_ptr< StateAbstract > & get_state () const
 

Additional Inherited Members

- Public Attributes inherited from ActuationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t nu_
 
boost::shared_ptr< StateAbstractstate_
 

Detailed Description

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

Full actuation model.

This actuation model applies input controls for all the nv dimensions of the system.

Both actuation and Jacobians are computed analytically by calc and calcDiff, respectively.

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

Definition at line 28 of file full.hpp.

Constructor & Destructor Documentation

◆ ActuationModelFullTpl()

ActuationModelFullTpl ( boost::shared_ptr< StateAbstract state)
inlineexplicit

Initialize the full actuation model.

Parameters
[in]stateState of the dynamical system

Definition at line 43 of file full.hpp.

Member Function Documentation

◆ calc()

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

Compute the full actuation.

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

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 53 of file full.hpp.

◆ calcDiff()

virtual void calcDiff ( const boost::shared_ptr< Data > &  data,
const Eigen::Ref< const VectorXs > &  ,
const Eigen::Ref< const VectorXs > &   
)
inlinevirtual

Compute the Jacobians of the full actuation model.

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

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 70 of file full.hpp.

◆ createData()

virtual boost::shared_ptr<Data> createData ( )
inlinevirtual

Create the full actuation data.

Parameters
[in]datashared data (it should be of type DataCollectorContactTpl)
Returns
the cost data.

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 87 of file full.hpp.


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