crocoddyl  1.6.0
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CostModelCentroidalMomentumTpl< _Scalar > Class Template Reference

Centroidal momentum cost. More...

#include <crocoddyl/multibody/costs/centroidal-momentum.hpp>

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

Public Types

typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef CostModelAbstractTpl< Scalar > Base
 
typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef CostDataCentroidalMomentumTpl< Scalar > Data
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::Matrix6xs Matrix6xs
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::Vector6s Vector6s
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from CostModelAbstractTpl< _Scalar >
typedef ActivationModelAbstractTpl< Scalar > ActivationModelAbstract
 
typedef ActivationModelQuadTpl< Scalar > ActivationModelQuad
 
typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector6s &mref, const std::size_t &nu)
 Initialize the centroidal momentum cost model. More...
 
 CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector6s &mref)
 Initialize the centroidal momentum cost model. More...
 
 CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &mref, const std::size_t &nu)
 Initialize the centroidal momentum cost model. More...
 
 CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &mref)
 Initialize the centroidal momentum cost model. More...
 
virtual void calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the centroidal momentum cost. More...
 
virtual void calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
 Compute the derivatives of the centroidal momentum cost. More...
 
virtual boost::shared_ptr< CostDataAbstractcreateData (DataCollectorAbstract *const data)
 Create the centroidal momentum cost data.
 
 DEPRECATED ("Use set_reference<MathBaseTpl<Scalar>::Vector6s>()", void set_href(const Vector6s &mref_in))
 
 DEPRECATED ("Use get_reference<MathBaseTpl<Scalar>::Vector6s>()", const Vector6s &get_href() const)
 
- Public Member Functions inherited from CostModelAbstractTpl< _Scalar >
 CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t &nu)
 Initialize the cost model. More...
 
 CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation)
 
 CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nr, const std::size_t &nu)
 
 CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nr)
 
virtual void calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 Compute the cost value and its residual vector. More...
 
void calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
virtual void calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
 Compute the Jacobian and Hessian of cost and its residual vector. More...
 
void calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 
const boost::shared_ptr< ActivationModelAbstract > & get_activation () const
 Return the activation model.
 
const std::size_t & get_nu () const
 Return the dimension of the control input.
 
template<class ReferenceType >
ReferenceType get_reference () const
 Return the cost reference.
 
const boost::shared_ptr< StateAbstract > & get_state () const
 Return the state.
 
template<class ReferenceType >
void set_reference (ReferenceType ref)
 Modify the cost reference.
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from CostModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Member Functions

virtual void get_referenceImpl (const std::type_info &ti, void *pv) const
 Return the centroidal momentum reference.
 
virtual void set_referenceImpl (const std::type_info &ti, const void *pv)
 Modify the centroidal momentum reference.
 

Additional Inherited Members

- Protected Attributes inherited from CostModelAbstractTpl< _Scalar >
boost::shared_ptr< ActivationModelAbstractactivation_
 Activation model.
 
std::size_t nu_
 Control dimension.
 
boost::shared_ptr< StateAbstractstate_
 State description.
 
VectorXs unone_
 No control vector.
 

Detailed Description

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

Centroidal momentum cost.

This cost function defines a residual vector as \(\mathbf{r}=\mathbf{h}-\mathbf{h}^*\), where \(\mathbf{h},\mathbf{h}^*\in~\mathcal{X}\) are the current and reference centroidal momenta, respetively. Note that the dimension of the residual vector is 6.

Both cost and residual derivatives are computed analytically. For the computation of the cost Hessian, we use the Gauss-Newton approximation, e.g. \(\mathbf{l_{xu}} = \mathbf{l_{x}}^T \mathbf{l_{u}} \).

As described in CostModelAbstractTpl(), the cost value and its derivatives are calculated by calc and calcDiff, respectively.

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

Definition at line 38 of file centroidal-momentum.hpp.

Constructor & Destructor Documentation

◆ CostModelCentroidalMomentumTpl() [1/4]

CostModelCentroidalMomentumTpl ( boost::shared_ptr< StateMultibody state,
boost::shared_ptr< ActivationModelAbstract activation,
const Vector6s &  mref,
const std::size_t &  nu 
)

Initialize the centroidal momentum cost model.

Parameters
[in]stateState of the multibody system
[in]activationActivation model
[in]mrefReference centroidal momentum
[in]nuDimension of the control vector

◆ CostModelCentroidalMomentumTpl() [2/4]

CostModelCentroidalMomentumTpl ( boost::shared_ptr< StateMultibody state,
boost::shared_ptr< ActivationModelAbstract activation,
const Vector6s &  mref 
)

Initialize the centroidal momentum cost model.

The default nu is obtained from StateAbstractTpl::get_nv().

Parameters
[in]stateState of the multibody system
[in]activationActivation model
[in]mrefReference centroidal momentum

◆ CostModelCentroidalMomentumTpl() [3/4]

CostModelCentroidalMomentumTpl ( boost::shared_ptr< StateMultibody state,
const Vector6s &  mref,
const std::size_t &  nu 
)

Initialize the centroidal momentum cost model.

We use ActivationModelQuadTpl as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)).

Parameters
[in]stateState of the multibody system
[in]mrefReference centroidal momentum
[in]nuDimension of the control vector

◆ CostModelCentroidalMomentumTpl() [4/4]

CostModelCentroidalMomentumTpl ( boost::shared_ptr< StateMultibody state,
const Vector6s &  mref 
)

Initialize the centroidal momentum cost model.

We use ActivationModelQuadTpl as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)). Furthermore, the default nu value is obtained from StateAbstractTpl::get_nv().

Parameters
[in]stateState of the multibody system
[in]mrefReference centroidal momentum

Member Function Documentation

◆ calc()

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

Compute the centroidal momentum cost.

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

◆ calcDiff()

virtual void calcDiff ( const boost::shared_ptr< CostDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

Compute the derivatives of the centroidal momentum cost.

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

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