|
| ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &uref) |
| Initialize the control residual model. More...
|
|
| ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu) |
| Initialize the control residual model. More...
|
|
| ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state) |
| Initialize the control residual model. More...
|
|
virtual void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the control residual. More...
|
|
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 control residual. More...
|
|
virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
| Create the control residual data.
|
|
const VectorXs & | get_reference () const |
| Return the reference control vector.
|
|
virtual void | print (std::ostream &os) const |
| Print relevant information of the control residual. More...
|
|
void | set_reference (const VectorXs &reference) |
| Modify the reference control vector.
|
|
| 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...
|
|
| 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) |
|
void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
|
void | calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
|
std::size_t | get_nr () const |
| Return the dimension of the residual vector.
|
|
std::size_t | get_nu () const |
| Return the dimension of the control input.
|
|
bool | get_q_dependent () const |
| Return true if the residual function depends on q.
|
|
const boost::shared_ptr< StateAbstract > & | get_state () const |
| Return the state.
|
|
bool | get_u_dependent () const |
| Return true if the residual function depends on u.
|
|
bool | get_v_dependent () const |
| Return true if the residual function depends on v.
|
|
template<typename _Scalar>
class crocoddyl::ResidualModelControlTpl< _Scalar >
Define a control residual.
This residual function is defined as \(\mathbf{r}=\mathbf{u}-\mathbf{u}^*\), where \(\mathbf{u},\mathbf{u}^*\in~\mathbb{R}^{nu}\) are the current and reference control inputs, respectively. Note that the dimension of the residual vector is obtained from nu
.
Both residual and residual Jacobians 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 146 of file fwd.hpp.