Actuation models for floating base systems actuated with thrusters. More...

#include <floating-base-thrusters.hpp>

Inheritance diagram for ActuationModelFloatingBaseThrustersTpl< _Scalar >:

Public Types
typedef ActuationModelAbstractTpl< Scalar >	Base

typedef ActuationDataAbstractTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef ThrusterTpl< Scalar >	Thruster

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ActuationModelAbstractTpl< _Scalar >
typedef ActuationDataAbstractTpl< Scalar >	ActuationDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ActuationModelFloatingBaseThrustersTpl (std::shared_ptr< StateMultibody > state, const std::vector< Thruster > &thrusters)
	Initialize the floating base actuation model equipped with thrusters. More...

virtual void	calc (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &u) override
	Compute the actuation signal and actuation set from its thrust and joint torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\). More...

virtual void	calcDiff (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &) override
	Compute the Jacobians of the floating base thruster actuation function. More...

template<typename NewScalar >
ActuationModelFloatingBaseThrustersTpl< NewScalar >	cast () const

virtual void	commands (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &tau) override
	Compute the joint torque input from the generalized torques. More...

virtual std::shared_ptr< Data >	createData () override
	Create the floating base thruster actuation data. More...

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CROCODDYL_DERIVED_CAST (ActuationModelBase, ActuationModelFloatingBaseThrustersTpl) typedef _Scalar Scalar

std::size_t	get_nthrusters () const
	Return the number of thrusters.

const MatrixXs &	get_S () const

const std::vector< Thruster > &	get_thrusters () const
	Return the vector of thrusters.

const MatrixXs &	get_Wthrust () const

void	print (std::ostream &os) const override
	Print relevant information of the residual model. More...

void	set_thrusters (const std::vector< Thruster > &thrusters)
	Modify the vector of thrusters. More...

virtual void	torqueTransform (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &) override
	Compute the torque transform from generalized torques to joint torque inputs. More...

Public Member Functions inherited from ActuationModelAbstractTpl< _Scalar >
	ActuationModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nu)
	Initialize the actuation model. More...

void	calc (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Ignore the computation of the actuation signal. More...

void	calcDiff (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Ignore the computation of the Jacobians of the actuation function. More...

std::size_t	get_nu () const
	Return the dimension of the joint-torque input.

const std::shared_ptr< StateAbstract > &	get_state () const
	Return the state.

Protected Attributes
MatrixXs	Mtau_

std::size_t	n_thrusters_
	Number of thrusters.

std::size_t	nu_
	Dimension of joint torque inputs.

MatrixXs	S_
	Selection matrix for under-actuation part.

std::shared_ptr< StateAbstract >	state_
	Model of the state.

std::vector< Thruster >	thrusters_
	Vector of thrusters.

bool	update_data_

MatrixXs	W_thrust_
	Matrix from thrusters thrusts to body wrench.

Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t	nu_
	Dimension of joint torque inputs.

std::shared_ptr< StateAbstract >	state_
	Model of the state.

Additional Inherited Members
Public Attributes inherited from ActuationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Detailed Description

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

Actuation models for floating base systems actuated with thrusters.

This actuation model models floating base robots equipped with thrusters, e.g., multicopters or marine robots equipped with manipulators. It control inputs are the thrusters' thrust (i.e., forces) and joint torques.

Both actuation and Jacobians are computed analytically by calc and calcDiff, respectively.

We assume the robot velocity to zero for easily related square thruster velocities with thrust and torque generated. This approach is similarly implemented in M. Geisert and N. Mansard, "Trajectory generation for quadrotor based systems using numerical optimal control", (ICRA). See Section III.C.

See also: ActuationModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 136 of file floating-base-thrusters.hpp.

Constructor & Destructor Documentation

◆ ActuationModelFloatingBaseThrustersTpl()

ActuationModelFloatingBaseThrustersTpl	(	std::shared_ptr< StateMultibody >	state,
		const std::vector< Thruster > &	thrusters
	)

inline

Initialize the floating base actuation model equipped with thrusters.

Parameters

[in]	state	State of the dynamical system
[in]	thrusters	Vector of thrusters

Definition at line 160 of file floating-base-thrusters.hpp.

Member Function Documentation

◆ calc()

virtual void calc	(	const std::shared_ptr< Data > &	data,
		const Eigen::Ref< const VectorXs > &	,
		const Eigen::Ref< const VectorXs > &	u
	)

inlineoverridevirtual

Compute the actuation signal and actuation set from its thrust and joint torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\).

Parameters

[in]	data	Floating base thrusters actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Joint-torque input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 200 of file floating-base-thrusters.hpp.

◆ calcDiff()

virtual void calcDiff	(	const std::shared_ptr< Data > &	data,
		const Eigen::Ref< const VectorXs > &	,
		const Eigen::Ref< const VectorXs > &
	)

inlineoverridevirtual

Compute the Jacobians of the floating base thruster actuation function.

Parameters

[in]	data	Floating base thrusters actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Joint-torque input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 223 of file floating-base-thrusters.hpp.