Public Types | |
typedef ActuationModelAbstractTpl< Scalar > | ActuationModelAbstract |
typedef DifferentialActionModelAbstractTpl< Scalar > | Base |
typedef CostModelSumTpl< Scalar > | CostModelSum |
typedef DifferentialActionDataFreeFwdDynamicsTpl< Scalar > | Data |
typedef DifferentialActionDataAbstractTpl< Scalar > | DifferentialActionDataAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::VectorXs | VectorXs |
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typedef DifferentialActionDataAbstractTpl< Scalar > | DifferentialActionDataAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef StateAbstractTpl< Scalar > | StateAbstract |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
DifferentialActionModelFreeFwdDynamicsTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActuationModelAbstract > actuation, boost::shared_ptr< CostModelSum > costs) | |
virtual void | calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Compute the system acceleration and cost value. More... | |
virtual void | calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
Compute the derivatives of the dynamics and cost functions. More... | |
virtual bool | checkData (const boost::shared_ptr< DifferentialActionDataAbstract > &data) |
Checks that a specific data belongs to this model. | |
virtual boost::shared_ptr< DifferentialActionDataAbstract > | createData () |
Create the differential action data. More... | |
const boost::shared_ptr< ActuationModelAbstract > & | get_actuation () const |
const VectorXs & | get_armature () const |
const boost::shared_ptr< CostModelSum > & | get_costs () const |
pinocchio::ModelTpl< Scalar > & | get_pinocchio () const |
virtual void | quasiStatic (const boost::shared_ptr< DifferentialActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
Computes the quasic static commands. More... | |
void | set_armature (const VectorXs &armature) |
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DifferentialActionModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0) | |
Initialize the differential action model. More... | |
void | calc (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the system acceleration and cost value. More... | |
void | calcDiff (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Compute the derivatives of the dynamics and cost functions. More... | |
bool | get_has_control_limits () const |
Indicates if there are defined control limits. | |
std::size_t | get_nr () const |
Return the dimension of the cost-residual vector. | |
std::size_t | get_nu () const |
Return the dimension of the control input. | |
const boost::shared_ptr< StateAbstract > & | get_state () const |
Return the state. | |
const VectorXs & | get_u_lb () const |
Return the control lower bound. | |
const VectorXs & | get_u_ub () const |
Return the control upper bound. | |
VectorXs | quasiStatic_x (const boost::shared_ptr< DifferentialActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9)) |
void | set_u_lb (const VectorXs &u_lb) |
Modify the control lower bounds. | |
void | set_u_ub (const VectorXs &u_ub) |
Modify the control upper bounds. | |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Attributes | |
bool | has_control_limits_ |
Indicates whether any of the control limits is finite. | |
std::size_t | nr_ |
< Indicates whether any of the control limits | |
std::size_t | nu_ |
< Dimension of the cost residual | |
boost::shared_ptr< StateAbstract > | state_ |
< Control dimension | |
VectorXs | u_lb_ |
< Model of the state | |
VectorXs | u_ub_ |
< Lower control limits | |
VectorXs | unone_ |
< Upper control limits | |
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bool | has_control_limits_ |
Indicates whether any of the control limits is finite. | |
std::size_t | nr_ |
Dimension of the cost residual. | |
std::size_t | nu_ |
Control dimension. | |
boost::shared_ptr< StateAbstract > | state_ |
Model of the state. | |
VectorXs | u_lb_ |
Lower control limits. | |
VectorXs | u_ub_ |
Upper control limits. | |
VectorXs | unone_ |
Neutral state. | |
Additional Inherited Members | |
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void | update_has_control_limits () |
Definition at line 29 of file free-fwddyn.hpp.
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virtual |
Compute the system acceleration and cost value.
[in] | data | Differential action data |
[in] | x | State point |
[in] | u | Control input |
Implements DifferentialActionModelAbstractTpl< _Scalar >.
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virtual |
Compute the derivatives of the dynamics and cost functions.
It computes the partial derivatives of the dynamical system and the cost function. It assumes that calc()
has been run first. This function builds a quadratic approximation of the time-continuous action model (i.e. dynamical system and cost function).
[in] | data | Differential action data |
[in] | x | State point |
[in] | u | Control input |
Implements DifferentialActionModelAbstractTpl< _Scalar >.
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virtual |
Create the differential action data.
Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.
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virtual |
Computes the quasic static commands.
The quasic static commands are the ones produced for a the reference posture as an equilibrium point, i.e. for \(\mathbf{f}(\mathbf{q},\mathbf{v}=\mathbf{0},\mathbf{u})=\mathbf{0}\)
[in] | data | Differential action data |
[out] | u | Quasic static commands |
[in] | x | State point (velocity has to be zero) |
[in] | maxiter | Maximum allowed number of iterations |
[in] | tol | Tolerance |
Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.