Frame placement cost. More...
#include <crocoddyl/multibody/costs/frame-placement.hpp>
Public Types | |
typedef ActivationModelAbstractTpl< Scalar > | ActivationModelAbstract |
typedef CostModelAbstractTpl< Scalar > | Base |
typedef CostDataAbstractTpl< Scalar > | CostDataAbstract |
typedef CostDataFramePlacementTpl< Scalar > | Data |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef FramePlacementTpl< Scalar > | FramePlacement |
typedef MathBaseTpl< Scalar > | MathBase |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
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 StateAbstractTpl< Scalar > | StateAbstract |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
CostModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FramePlacement &Fref) | |
Initialize the frame placement cost model. More... | |
CostModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FramePlacement &Fref, const std::size_t nu) | |
Initialize the frame placement cost model. More... | |
CostModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, const FramePlacement &Fref) | |
Initialize the frame placement cost model. More... | |
CostModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, const FramePlacement &Fref, const std::size_t nu) | |
Initialize the frame placement 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 frame placement cost. 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 frame placement cost. More... | |
virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the frame placement cost data. | |
DEPRECATED ("Use get_reference<FramePlacementTpl<Scalar> >()", const FramePlacement &get_Mref() const) | |
DEPRECATED ("Use set_reference<FramePlacementTpl<Scalar> >()", void set_Mref(const FramePlacement &Mref_in)) | |
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CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation) | |
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, const std::size_t nr) | |
Initialize the cost model. More... | |
CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu) | |
Initialize the cost model. More... | |
void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the cost value and its residual vector. More... | |
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... | |
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 () const |
Return the cost reference. | |
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 |
Protected Member Functions | |
virtual void | get_referenceImpl (const std::type_info &ti, void *pv) const |
Return the frame placement reference. | |
virtual void | set_referenceImpl (const std::type_info &ti, const void *pv) |
Modify the frame placement reference. | |
Protected Attributes | |
boost::shared_ptr< ActivationModelAbstract > | activation_ |
Activation model. | |
std::size_t | nu_ |
Control dimension. | |
boost::shared_ptr< StateAbstract > | state_ |
State description. | |
VectorXs | unone_ |
No control vector. | |
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boost::shared_ptr< ActivationModelAbstract > | activation_ |
Activation model. | |
std::size_t | nu_ |
Control dimension. | |
boost::shared_ptr< StateAbstract > | state_ |
State description. | |
VectorXs | unone_ |
No control vector. | |
Frame placement cost.
This cost function defines a residual vector as \(\mathbf{r}=\mathbf{p}\ominus\mathbf{p}^*\), where \(\mathbf{p},\mathbf{p}^*\in~\mathbb{SE(3)}\) are the current and reference frame placements, respectively. Note that the dimension of the residual vector is 6.
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 CostModelAbstractTpl(), the cost value and its derivatives are calculated by calc
and calcDiff
, respectively.
CostModelAbstractTpl
, calc()
, calcDiff()
, createData()
Definition at line 39 of file frame-placement.hpp.
CostModelFramePlacementTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const FramePlacement & | Fref, | ||
const std::size_t | nu | ||
) |
Initialize the frame placement cost model.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | Fref | Reference frame placement |
[in] | nu | Dimension of the control vector |
CostModelFramePlacementTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const FramePlacement & | Fref | ||
) |
Initialize the frame placement cost model.
The default nu
is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | Fref | Reference frame placement |
CostModelFramePlacementTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const FramePlacement & | Fref, | ||
const std::size_t | nu | ||
) |
Initialize the frame placement cost model.
We use ActivationModelQuadTpl
as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)).
[in] | state | State of the multibody system |
[in] | Fref | Reference frame placement |
[in] | nu | Dimension of the control vector |
CostModelFramePlacementTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const FramePlacement & | Fref | ||
) |
Initialize the frame placement cost model.
We use ActivationModelQuadTpl
as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)). Furthermore, the default nu
is obtained from StateAbstractTpl::get_nv()
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | Fref | Reference frame placement |
|
virtual |
Compute the frame placement cost.
[in] | data | Frame placement cost data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Implements CostModelAbstractTpl< _Scalar >.
|
virtual |
Compute the derivatives of the frame placement cost.
[in] | data | Frame-placement cost data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Implements CostModelAbstractTpl< _Scalar >.