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| ResidualModelStateTpl (boost::shared_ptr< typename Base::StateAbstract > state) |
| Initialize the state residual model. More...
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| ResidualModelStateTpl (boost::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu) |
| Initialize the state residual model. More...
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| ResidualModelStateTpl (boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &xref) |
| Initialize the state residual model. More...
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| ResidualModelStateTpl (boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &xref, const std::size_t nu) |
| Initialize the state residual model. More...
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virtual void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the state residual. More...
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virtual void | calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the Jacobians of the state residual. More...
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const VectorXs & | get_reference () const |
| Return the reference state.
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virtual void | print (std::ostream &os) const |
| Print relevant information of the state residual. More...
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void | set_reference (const VectorXs &reference) |
| Modify the reference state.
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| ResidualModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const bool q_dependent=true, const bool v_dependent=true, const bool u_dependent=true) |
| Initialize the residual model. More...
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| ResidualModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu, const bool q_dependent=true, const bool v_dependent=true, const bool u_dependent=true) |
| Initialize the residual model. More...
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virtual void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
| Compute the residual vector for nodes that depends only on the state. More...
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virtual void | calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
| Compute the Jacobian of the residual functions with respect to the state only. More...
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virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
| Create the residual data. More...
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std::size_t | get_nr () const |
| Return the dimension of the residual vector.
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std::size_t | get_nu () const |
| Return the dimension of the control input.
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bool | get_q_dependent () const |
| Return true if the residual function depends on q.
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const boost::shared_ptr< StateAbstract > & | get_state () const |
| Return the state.
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bool | get_u_dependent () const |
| Return true if the residual function depends on u.
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bool | get_v_dependent () const |
| Return true if the residual function depends on v.
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template<typename _Scalar>
class crocoddyl::ResidualModelStateTpl< _Scalar >
State residual.
This residual function defines the state tracking as \(\mathbf{r}=\mathbf{x}\ominus\mathbf{x}^*\), where \(\mathbf{x},\mathbf{x}^*\in~\mathcal{X}\) are the current and reference states, respectively, which belong to the state manifold \(\mathcal{X}\). Note that the dimension of the residual vector is obtained from StateAbstract::get_ndx()
. Furthermore, the Jacobians of the residual function are computed analytically.
As described in ResidualModelAbstractTpl()
, the residual value and its derivatives are calculated by calc
and calcDiff
, respectively.
- See also
ResidualModelAbstractTpl
, calc()
, calcDiff()
, createData()
Definition at line 35 of file state.hpp.