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| ActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nu, const std::size_t &nr=0) |
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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)=0 |
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void | calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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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)=0 |
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void | calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
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virtual bool | checkData (const boost::shared_ptr< ActionDataAbstract > &data) |
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virtual boost::shared_ptr< ActionDataAbstract > | createData () |
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bool const & | get_has_control_limits () const |
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const std::size_t & | get_nr () const |
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const std::size_t & | get_nu () const |
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const boost::shared_ptr< StateAbstract > & | get_state () const |
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const VectorXs & | get_u_lb () const |
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const VectorXs & | get_u_ub () const |
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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) |
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void | set_u_ub (const VectorXs &u_ub) |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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void | update_has_control_limits () |
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bool | has_control_limits_ |
| Indicates whether any of the control limits is finite.
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std::size_t | nr_ |
| Dimension of the cost residual.
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std::size_t | nu_ |
| Control dimension.
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boost::shared_ptr< StateAbstract > | state_ |
| Model of the state.
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VectorXs | u_lb_ |
| Lower control limits.
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VectorXs | u_ub_ |
| Upper control limits.
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VectorXs | unone_ |
| Neutral state.
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template<typename _Scalar>
class crocoddyl::ActionModelAbstractTpl< _Scalar >
Definition at line 24 of file action-base.hpp.
◆ quasiStatic()
virtual void quasiStatic |
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const boost::shared_ptr< ActionDataAbstract > & |
data, |
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Eigen::Ref< VectorXs > |
u, |
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const Eigen::Ref< const VectorXs > & |
x, |
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const std::size_t & |
maxiter = 100 , |
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const Scalar & |
tol = Scalar(1e-9) |
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virtual |
Computes the quasic static commands.
The quasic static commands are the ones produced for a the reference posture as an equilibrium point, i.e. for \(\mathbf{f(q,v=0,u)=0}\)
- Parameters
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[in] | data | Differential action data |
[out] | u | Quasic static commands |
[in] | x | State point (velocity has to be zero) |
[in] | maxiter | Maximum allowed number of iterations |
[in] | tol | Tolerance |
Reimplemented in IntegratedActionModelEulerTpl< _Scalar >, and IntegratedActionModelRK4Tpl< _Scalar >.
◆ quasiStatic_x()
VectorXs quasiStatic_x |
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const boost::shared_ptr< ActionDataAbstract > & |
data, |
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const VectorXs & |
x, |
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const std::size_t & |
maxiter = 100 , |
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const Scalar & |
tol = Scalar(1e-9) |
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- Parameters
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[in] | data | Differential action data |
[in] | x | State point (velocity has to be zero) |
[in] | maxiter | Maximum allowed number of iterations |
[in] | tol | Tolerance |
- Returns
- Quasic static commands
The documentation for this class was generated from the following file: