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| ActionModelImpulseFwdDynamicsTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ImpulseModelMultiple > impulses, boost::shared_ptr< CostModelSum > costs, const Scalar r_coeff=Scalar(0.), const Scalar JMinvJt_damping=Scalar(0.), const bool enable_force=false) |
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virtual void | calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the next state and cost value. More...
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virtual void | calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the derivatives of the dynamics and cost functions. More...
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virtual bool | checkData (const boost::shared_ptr< ActionDataAbstract > &data) |
| Checks that a specific data belongs to this model.
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virtual boost::shared_ptr< ActionDataAbstract > | createData () |
| Create the action data. More...
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const VectorXs & | get_armature () const |
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const boost::shared_ptr< CostModelSum > & | get_costs () const |
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const Scalar | get_damping_factor () const |
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const boost::shared_ptr< ImpulseModelMultiple > & | get_impulses () const |
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pinocchio::ModelTpl< Scalar > & | get_pinocchio () const |
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const Scalar | get_restitution_coefficient () const |
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virtual void | print (std::ostream &os) const |
| Print relevant information of the impulase forward-dynamics model. More...
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void | set_armature (const VectorXs &armature) |
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void | set_damping_factor (const Scalar damping) |
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void | set_restitution_coefficient (const Scalar r_coeff) |
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| ActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0) |
| Initialize the action model. More...
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void | calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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void | calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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bool | get_has_control_limits () const |
| Indicates if there are defined control limits.
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std::size_t | get_nr () const |
| Return the dimension of the cost-residual vector.
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std::size_t | get_nu () const |
| Return the dimension of the control input.
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const boost::shared_ptr< StateAbstract > & | get_state () const |
| Return the state.
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const VectorXs & | get_u_lb () const |
| Return the control lower bound.
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const VectorXs & | get_u_ub () const |
| Return the control upper bound.
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virtual void | quasiStatic (const boost::shared_ptr< ActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
| Computes the quasic static commands. More...
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VectorXs | quasiStatic_x (const boost::shared_ptr< ActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
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void | set_u_lb (const VectorXs &u_lb) |
| Modify the control lower bounds.
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void | set_u_ub (const VectorXs &u_ub) |
| Modify the control upper bounds.
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template<typename _Scalar>
class crocoddyl::ActionModelImpulseFwdDynamicsTpl< _Scalar >
Definition at line 34 of file impulse-fwddyn.hpp.