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| ResidualModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const std::size_t nu) |
| Initialize the frame placement residual model. More...
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| ResidualModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref) |
| Initialize the frame placement 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 frame placement 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 derivatives of the frame placement residual. More...
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virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
| Create the frame placement residual data.
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pinocchio::FrameIndex | get_id () const |
| Return the reference frame id.
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const SE3 & | get_reference () const |
| Return the reference frame placement.
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virtual void | print (std::ostream &os) const |
| Print relevant information of the frame-placement residual. More...
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void | set_id (const pinocchio::FrameIndex id) |
| Modify the reference frame id.
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void | set_reference (const SE3 &reference) |
| Modify the reference frame placement.
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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::ResidualModelFramePlacementTpl< _Scalar >
Frame placement residual.
This residual function defines the frame placement tracking as \(\mathbf{r}=\mathbf{p}\ominus\mathbf{p}^*\), where \(\mathbf{p},\mathbf{p}^*\in~\mathbb{SE(3)}\) are the current and reference frame placements, respectively. Note that the dimension of the residual vector is 6. 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 132 of file fwd.hpp.