crocoddyl  1.8.1
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ResidualModelControlGravTpl< _Scalar > Class Template Reference

Control gravity residual. More...

#include <crocoddyl/multibody/residuals/control-gravity.hpp>

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

Public Types

typedef ResidualModelAbstractTpl< Scalar > Base
 
typedef ResidualDataControlGravTpl< Scalar > Data
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef ResidualDataAbstractTpl< Scalar > ResidualDataAbstract
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ResidualModelAbstractTpl< _Scalar >
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef ResidualDataAbstractTpl< Scalar > ResidualDataAbstract
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 ResidualModelControlGravTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nu)
 Initialize the control gravity residual model. More...
 
 ResidualModelControlGravTpl (boost::shared_ptr< StateMultibody > state)
 Initialize the control gravity 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 gravity 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 Jacobians of the control gravity residual. More...
 
virtual boost::shared_ptr< ResidualDataAbstractcreateData (DataCollectorAbstract *const data)
 Create the residual data. More...
 
virtual void print (std::ostream &os) const
 Print relevant information of the control-grav residual. More...
 
- Public Member Functions inherited from ResidualModelAbstractTpl< _Scalar >
 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.
 

Public Attributes

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

Additional Inherited Members

- Protected Attributes inherited from ResidualModelAbstractTpl< _Scalar >
std::size_t nr_
 Residual vector dimension.
 
std::size_t nu_
 Control dimension.
 
bool q_dependent_
 Label that indicates if the residual function depends on q.
 
boost::shared_ptr< StateAbstractstate_
 State description.
 
bool u_dependent_
 Label that indicates if the residual function depends on u.
 
VectorXs unone_
 No control vector.
 
bool v_dependent_
 Label that indicates if the residual function depends on v.
 

Detailed Description

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

Control gravity residual.

This residual function is defined as \(\mathbf{r}=\mathbf{u}-\mathbf{g}(\mathbf{q})\), where \(\mathbf{u}\in~\mathbb{R}^{nu}\) is the current control input, \(\mathbf{g}(\mathbf{q})\) is the gravity torque corresponding to the current configuration, \(\mathbf{q}\in~\mathbb{R}^{nq}\) the current position joints input. Note that the dimension of the residual vector is obtained from StateAbstractTpl::get_nv().

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 127 of file fwd.hpp.

Constructor & Destructor Documentation

◆ ResidualModelControlGravTpl() [1/2]

ResidualModelControlGravTpl ( boost::shared_ptr< StateMultibody state,
const std::size_t  nu 
)

Initialize the control gravity residual model.

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

◆ ResidualModelControlGravTpl() [2/2]

ResidualModelControlGravTpl ( boost::shared_ptr< StateMultibody state)

Initialize the control gravity residual model.

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

Parameters
[in]stateState of the multibody system

Member Function Documentation

◆ calc()

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

Compute the control gravity residual.

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calcDiff()

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

Compute the Jacobians of the control gravity residual.

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ createData()

virtual boost::shared_ptr<ResidualDataAbstract> createData ( DataCollectorAbstract *const  data)
virtual

Create the residual data.

The default data contains objects to store the values of the residual vector and their Jacobians. However, it is possible to specialized this function if we need to create additional data, for instance, to avoid dynamic memory allocation.

Parameters
dataData collector
Returns
the residual data

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ print()

virtual void print ( std::ostream &  os) const
virtual

Print relevant information of the control-grav residual.

Parameters
[out]osOutput stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.


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