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| ResidualModelImpulseCoMTpl (boost::shared_ptr< StateMultibody > state) |
| Initialize the impulse CoM residual model. More...
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virtual void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the impulse CoM residual. More...
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virtual void | calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the Jacobians of the impulse CoM residual. More...
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virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
| Create the impulse CoM residual data.
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virtual void | print (std::ostream &os) const |
| Print relevant information of the impulse-com residual. More...
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| 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...
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| 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) |
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void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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void | calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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std::size_t | get_nr () const |
| Return the dimension of the residual vector.
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std::size_t | get_nu () const |
| Return the dimension of the control input.
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bool | get_q_dependent () const |
| Return true if the residual function depends on q.
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const boost::shared_ptr< StateAbstract > & | get_state () const |
| Return the state.
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bool | get_u_dependent () const |
| Return true if the residual function depends on u.
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bool | get_v_dependent () const |
| Return true if the residual function depends on v.
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template<typename _Scalar>
class crocoddyl::ResidualModelImpulseCoMTpl< _Scalar >
Impulse CoM residual.
This residual function is defined as \(\mathbf{r}=\mathbf{J}_{com}*(\mathbf{v}_{next}-\mathbf{v})\), \(\mathbf{J}_{com}\in\mathbb{R}^{3\times nv}\) is the CoM Jacobian, and \(\mathbf{v}_{next},\mathbf{v}\in T_{\mathbf{q}}\mathcal{Q}\) are the generalized velocities after and before the impulse, respectively. Note that the dimension of the residual vector is 3. Furthermore, the Jacobians of the residual function 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 152 of file fwd.hpp.