Impulse CoM cost. More...
#include <crocoddyl/multibody/costs/impulse-com.hpp>
Public Types | |
typedef ActivationModelAbstractTpl< Scalar > | ActivationModelAbstract |
typedef CostModelResidualTpl< Scalar > | Base |
typedef MathBaseTpl< Scalar > | MathBase |
typedef ResidualModelImpulseCoMTpl< Scalar > | ResidualModelImpulseCoM |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::VectorXs | VectorXs |
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typedef ActivationModelAbstractTpl< Scalar > | ActivationModelAbstract |
typedef CostModelAbstractTpl< Scalar > | Base |
typedef CostDataAbstractTpl< Scalar > | CostDataAbstract |
typedef CostDataResidualTpl< Scalar > | Data |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef ResidualModelAbstractTpl< Scalar > | ResidualModelAbstract |
typedef MathBase::VectorXs | VectorXs |
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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 ResidualModelAbstractTpl< Scalar > | ResidualModelAbstract |
typedef StateAbstractTpl< Scalar > | StateAbstract |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
CostModelImpulseCoMTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation) | |
Initialize the impulse CoM cost model. More... | |
CostModelImpulseCoMTpl (boost::shared_ptr< StateMultibody > state) | |
Initialize the impulse CoM cost model. More... | |
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CostModelResidualTpl (boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, boost::shared_ptr< ResidualModelAbstract > residual) | |
Initialize the residual cost model. More... | |
CostModelResidualTpl (boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ResidualModelAbstract > residual) | |
Initialize the residual 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 residual cost. More... | |
virtual void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the residual cost based on state only. 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 residual cost. More... | |
virtual void | calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the derivatives of the residual cost with respect to the state only. More... | |
virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the residual cost data. | |
virtual void | print (std::ostream &os) const |
Print relevant information of the cost-residual model. More... | |
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CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, boost::shared_ptr< ResidualModelAbstract > residual) | |
Initialize the cost model. More... | |
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, boost::shared_ptr< ResidualModelAbstract > residual) | |
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... | |
virtual void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the total cost value for nodes that depends only on the state. More... | |
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... | |
virtual void | calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the Jacobian and Hessian of the cost functions with respect to the state only. More... | |
const boost::shared_ptr< ActivationModelAbstract > & | get_activation () const |
Return the activation model. | |
std::size_t | get_nu () const |
Return the dimension of the control input. | |
template<class ReferenceType > | |
ReferenceType | get_reference () |
Return the cost reference. | |
const boost::shared_ptr< ResidualModelAbstract > & | get_residual () const |
Return the residual model. | |
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 |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Additional Inherited Members | |
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virtual void | get_referenceImpl (const std::type_info &, void *) |
virtual void | set_referenceImpl (const std::type_info &, const void *) |
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boost::shared_ptr< ActivationModelAbstract > | activation_ |
Activation model. | |
std::size_t | nu_ |
Control dimension. | |
boost::shared_ptr< ResidualModelAbstract > | residual_ |
Residual model. | |
boost::shared_ptr< StateAbstract > | state_ |
State description. | |
VectorXs | unone_ |
No control vector. | |
Impulse CoM cost.
This cost function defines a residual vector as \(\mathbf{r}=\mathbf{J}_{com}*(\mathbf{v}_{next}-\mathbf{v})\), \(\mathbf{J}_{com}\in\mathbb{R}^{3\times nv}\) is the CoM Jacobian, and \(\mathbf{v}_{next},\mathbf{v}\in T_{\mathbf{q}}\mathcal{Q}\) are the generalized velocities after and before the impulse, respectively. Note that the dimension of the residual vector is 3.
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 CostModelResidualTpl()
, the cost value and its derivatives are calculated by calc
and calcDiff
, respectively.
CostModelResidualTpl
, calc()
, calcDiff()
, createData()
Definition at line 39 of file impulse-com.hpp.
CostModelImpulseCoMTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation | ||
) |
Initialize the impulse CoM cost model.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
CostModelImpulseCoMTpl | ( | boost::shared_ptr< StateMultibody > | state | ) |
Initialize the impulse CoM cost model.
We use ActivationModelQuadTpl
as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)). The default nu
value is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |