crocoddyl  1.7.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
CostModelContactWrenchConeTpl< _Scalar > Class Template Reference
Inheritance diagram for CostModelContactWrenchConeTpl< _Scalar >:
Collaboration diagram for CostModelContactWrenchConeTpl< _Scalar >:

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
 
- Public Types inherited from CostModelAbstractTpl< _Scalar >
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< CostDataAbstractcreateData (DataCollectorAbstract *const data)
 Create the cost data. More...
 
- Public Member Functions inherited from CostModelAbstractTpl< _Scalar >
 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
 
- Public Attributes inherited from CostModelAbstractTpl< _Scalar >
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< ActivationModelAbstractactivation_
 Activation model.
 
std::size_t nu_
 Control dimension.
 
boost::shared_ptr< StateAbstractstate_
 State description.
 
VectorXs unone_
 No control vector.
 
- Protected Attributes inherited from CostModelAbstractTpl< _Scalar >
boost::shared_ptr< ActivationModelAbstractactivation_
 Activation model.
 
std::size_t nu_
 Control dimension.
 
boost::shared_ptr< StateAbstractstate_
 State description.
 
VectorXs unone_
 No control vector.
 

Detailed Description

template<typename _Scalar>
class crocoddyl::CostModelContactWrenchConeTpl< _Scalar >

Definition at line 26 of file contact-wrench-cone.hpp.

Member Function Documentation

◆ calc()

virtual void calc ( const boost::shared_ptr< CostDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
virtual

Compute the cost value and its residual vector.

Parameters
[in]dataCost data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements CostModelAbstractTpl< _Scalar >.

◆ calcDiff()

virtual void calcDiff ( const boost::shared_ptr< CostDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
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.

Parameters
[in]dataCost data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements CostModelAbstractTpl< _Scalar >.

◆ createData()

virtual boost::shared_ptr<CostDataAbstract> createData ( DataCollectorAbstract *const  data)
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.

Parameters
dataData collector
Returns
the cost data

Reimplemented from CostModelAbstractTpl< _Scalar >.


The documentation for this class was generated from the following file: