Centroidal momentum cost. More...
#include <crocoddyl/multibody/costs/centroidal-momentum.hpp>
Public Types | |
typedef ActivationModelAbstractTpl< Scalar > | ActivationModelAbstract |
typedef CostModelAbstractTpl< Scalar > | Base |
typedef CostDataAbstractTpl< Scalar > | CostDataAbstract |
typedef CostDataCentroidalMomentumTpl< Scalar > | Data |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::Matrix6xs | Matrix6xs |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::Vector6s | Vector6s |
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 | |
CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector6s &mref) | |
Initialize the centroidal momentum cost model. More... | |
CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const Vector6s &mref, const std::size_t nu) | |
Initialize the centroidal momentum cost model. More... | |
CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &mref) | |
Initialize the centroidal momentum cost model. More... | |
CostModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &mref, const std::size_t nu) | |
Initialize the centroidal momentum 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 centroidal momentum 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 centroidal momentum cost. More... | |
virtual boost::shared_ptr< CostDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the centroidal momentum cost data. | |
DEPRECATED ("Use get_reference<MathBaseTpl<Scalar>::Vector6s>()", const Vector6s &get_href() const) | |
DEPRECATED ("Use set_reference<MathBaseTpl<Scalar>::Vector6s>()", void set_href(const Vector6s &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 centroidal momentum reference. | |
virtual void | set_referenceImpl (const std::type_info &ti, const void *pv) |
Modify the centroidal momentum 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. | |
Centroidal momentum cost.
This cost function defines a residual vector as \(\mathbf{r}=\mathbf{h}-\mathbf{h}^*\), where \(\mathbf{h},\mathbf{h}^*\in~\mathcal{X}\) are the current and reference centroidal momenta, respetively. 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 38 of file centroidal-momentum.hpp.
CostModelCentroidalMomentumTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const Vector6s & | mref, | ||
const std::size_t | nu | ||
) |
Initialize the centroidal momentum cost model.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | mref | Reference centroidal momentum |
[in] | nu | Dimension of the control vector |
CostModelCentroidalMomentumTpl | ( | boost::shared_ptr< StateMultibody > | state, |
boost::shared_ptr< ActivationModelAbstract > | activation, | ||
const Vector6s & | mref | ||
) |
Initialize the centroidal momentum cost model.
The default nu
is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | activation | Activation model |
[in] | mref | Reference centroidal momentum |
CostModelCentroidalMomentumTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const Vector6s & | mref, | ||
const std::size_t | nu | ||
) |
Initialize the centroidal momentum 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] | mref | Reference centroidal momentum |
[in] | nu | Dimension of the control vector |
CostModelCentroidalMomentumTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const Vector6s & | mref | ||
) |
Initialize the centroidal momentum cost model.
We use ActivationModelQuadTpl
as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)). Furthermore, the default nu
value is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
[in] | mref | Reference centroidal momentum |
|
virtual |
Compute the centroidal momentum cost.
[in] | data | Centroidal momentum 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 centroidal momentum cost.
[in] | data | Centroidal momentum 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 >.