|
| DifferentialActionModelFreeFwdDynamicsTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActuationModelAbstract > actuation, boost::shared_ptr< CostModelSum > costs) |
|
virtual void | calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the system acceleration and cost value. More...
|
|
virtual void | calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the derivatives of the dynamics and cost functions. More...
|
|
virtual bool | checkData (const boost::shared_ptr< DifferentialActionDataAbstract > &data) |
| Checks that a specific data belongs to this model.
|
|
virtual boost::shared_ptr< DifferentialActionDataAbstract > | createData () |
| Create the differential action data. More...
|
|
const boost::shared_ptr< ActuationModelAbstract > & | get_actuation () const |
|
const VectorXs & | get_armature () const |
|
const boost::shared_ptr< CostModelSum > & | get_costs () const |
|
pinocchio::ModelTpl< Scalar > & | get_pinocchio () const |
|
virtual void | quasiStatic (const boost::shared_ptr< DifferentialActionDataAbstract > &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...
|
|
void | set_armature (const VectorXs &armature) |
|
| DifferentialActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0) |
| Initialize the differential action model. More...
|
|
void | calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
|
void | calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
|
bool | get_has_control_limits () const |
| Indicates if there are defined control limits.
|
|
std::size_t | get_nr () const |
| Return the dimension of the cost-residual vector.
|
|
std::size_t | get_nu () const |
| Return the dimension of the control input.
|
|
const boost::shared_ptr< StateAbstract > & | get_state () const |
| Return the state.
|
|
const VectorXs & | get_u_lb () const |
| Return the control lower bound.
|
|
const VectorXs & | get_u_ub () const |
| Return the control upper bound.
|
|
VectorXs | quasiStatic_x (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
|
void | set_u_lb (const VectorXs &u_lb) |
| Modify the control lower bounds.
|
|
void | set_u_ub (const VectorXs &u_ub) |
| Modify the control upper bounds.
|
|
template<typename _Scalar>
class crocoddyl::DifferentialActionModelFreeFwdDynamicsTpl< _Scalar >
Definition at line 29 of file free-fwddyn.hpp.