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| CostModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector3s &cref) |
| Initialize the CoM position cost model. More...
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| CostModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector3s &cref, const std::size_t &nu) |
| Initialize the CoM position cost model. More...
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| CostModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, const Vector3s &cref) |
| Initialize the CoM position cost model. More...
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| CostModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, const Vector3s &cref, const std::size_t &nu) |
| Initialize the CoM position cost model. More...
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virtual void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the CoM position cost. More...
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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 CoM position cost. More...
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virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
| Create the cost data. More...
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| DEPRECATED ("Use get_reference<MathBaseTpl<Scalar>::Vector3s>()", const Vector3s &get_cref() const) |
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| DEPRECATED ("Use set_reference<MathBaseTpl<Scalar>::Vector3s>()", void set_cref(const Vector3s &cref_in)) |
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation) |
| Initialize the cost model. More...
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t &nu) |
| Initialize the cost model. More...
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nr) |
| Initialize the cost model. More...
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| CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t &nr, const std::size_t &nu) |
| Initialize the cost model. More...
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void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
| Compute the cost value and its residual vector. More...
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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...
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void | calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
| Compute the Jacobian and Hessian of cost and its residual vector. More...
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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...
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const boost::shared_ptr< ActivationModelAbstract > & | get_activation () const |
| Return the activation model.
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const std::size_t & | get_nu () const |
| Return the dimension of the control input.
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template<class ReferenceType > |
ReferenceType | get_reference () const |
| Return the cost reference.
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const boost::shared_ptr< StateAbstract > & | get_state () const |
| Return the state.
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template<class ReferenceType > |
void | set_reference (ReferenceType ref) |
| Modify the cost reference.
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template<typename _Scalar>
class crocoddyl::CostModelCoMPositionTpl< _Scalar >
CoM position cost.
This cost function defines a residual vector as \(\mathbf{r}=\mathbf{c}-\mathbf{c}^*\), where \(\mathbf{c},\mathbf{c}^*\in~\mathbb{R}^3\) are the current and reference CoM position, respetively. Note that the dimension of the residual vector is obtained from 3.
Both cost and residual derivatives are computed analytically. For the computation of the cost Hessian, we use the Gauss-Newton approximation, e.g. \(\mathbf{l_{xx}} = \mathbf{l_{x}}^T \mathbf{l_{x}} \).
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 com-position.hpp.