Control gravity cost. More...
#include <crocoddyl/multibody/costs/control-gravity.hpp>
Public Types | |
typedef ActivationModelAbstractTpl< Scalar > | ActivationModelAbstract |
typedef ActivationModelQuadTpl< Scalar > | ActivationModelQuad |
typedef ActuationModelAbstractTpl< Scalar > | ActuationModelAbstract |
typedef CostModelAbstractTpl< Scalar > | Base |
typedef CostDataAbstractTpl< Scalar > | CostDataAbstract |
typedef CostDataControlGravTpl< Scalar > | Data |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::VectorXs | VectorXs |
![]() | |
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 | |
CostModelControlGravTpl (boost::shared_ptr< StateMultibody > state) | |
Initialize the control gravity cost model. More... | |
CostModelControlGravTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation) | |
Initialize the control gravity cost model. More... | |
CostModelControlGravTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu) | |
Initialize the control gravity cost model. More... | |
CostModelControlGravTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nu) | |
Initialize the control gravity 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 control gravity 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 control gravity cost. More... | |
virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the cost data. More... | |
![]() | |
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 |
![]() | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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. | |
![]() | |
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. | |
Additional Inherited Members | |
![]() | |
virtual void | get_referenceImpl (const std::type_info &, void *) const |
Return the cost reference. | |
virtual void | set_referenceImpl (const std::type_info &, const void *) |
Modify the cost reference. | |
Control gravity cost.
This cost function defines a residual vector 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()
.
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.
CostModelAbstractTpl
, calc(), calcDiff(), createData() Definition at line 36 of file control-gravity.hpp.
CostModelControlGravTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const std::size_t | nu | ||
) |
Initialize the control gravity cost model.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | nu | Dimension of control vector |
CostModelControlGravTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation | ||
) |
Initialize the control gravity cost model.
The default nu
value is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
CostModelControlGravTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const std::size_t | nu | ||
) |
Initialize the control gravity 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] | nu | Dimension of control vector |
|
explicit |
Initialize the control gravity cost model.
The default nu
value is obtained from StateAbstractTpl::get_nv()
. We use ActivationModelQuadTpl
as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)).
[in] | state | State of the multibody system |
|
virtual |
Compute the control gravity cost.
[in] | data | Control 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 control gravity cost.
[in] | data | Control 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 |
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 >.