Public Types | |
typedef ActivationModelAbstractTpl< Scalar > | ActivationModelAbstract |
typedef CostModelAbstractTpl< Scalar > | Base |
typedef CostDataAbstractTpl< Scalar > | CostDataAbstract |
typedef CostDataContactWrenchConeTpl< Scalar > | Data |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef FrameWrenchConeTpl< Scalar > | FrameWrenchCone |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixX6s | MatrixX6s |
typedef MathBase::MatrixXs | MatrixXs |
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 | |
CostModelContactWrenchConeTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameWrenchCone &fref) | |
CostModelContactWrenchConeTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameWrenchCone &fref, const std::size_t nu) | |
CostModelContactWrenchConeTpl (boost::shared_ptr< StateMultibody > state, const FrameWrenchCone &fref) | |
CostModelContactWrenchConeTpl (boost::shared_ptr< StateMultibody > state, const FrameWrenchCone &fref, const std::size_t nu) | |
virtual void | calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Compute the cost value and its residual vector. More... | |
virtual void | calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Compute the Jacobian and Hessian of cost and its residual vector. More... | |
virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the cost data. More... | |
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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 cost reference. | |
virtual void | set_referenceImpl (const std::type_info &ti, const void *pv) |
Modify the cost 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. | |
Definition at line 26 of file contact-wrench-cone.hpp.
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virtual |
Compute the cost value and its residual vector.
[in] | data | 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 >.
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virtual |
Compute the Jacobian and Hessian of cost and its residual vector.
It computes the Jacobian and Hessian of the cost function. It assumes that calc()
has been run first.
[in] | data | 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 >.
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virtual |
Create the cost data.
The default data contains objects to store the values of the cost, residual vector and their derivatives (first and second order derivatives). However, it is possible to specialized this function is we need to create additional data, for instance, to avoid dynamic memory allocation.
data | Data collector |
Reimplemented from CostModelAbstractTpl< _Scalar >.