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ActuationSquashingModelTpl< _Scalar > Class Template Reference
Inheritance diagram for ActuationSquashingModelTpl< _Scalar >:
ActuationModelAbstractTpl< _Scalar > ActuationModelBase

Public Types

typedef ActuationDataAbstractTpl< Scalar > ActuationDataAbstract
 
typedef ActuationModelAbstractTpl< Scalar > Base
 
typedef ActuationSquashingDataTpl< Scalar > Data
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef SquashingModelAbstractTpl< Scalar > SquashingModelAbstract
 
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

 ActuationSquashingModelTpl (std::shared_ptr< Base > actuation, std::shared_ptr< SquashingModelAbstract > squashing, const std::size_t nu)
 
virtual void calc (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
 Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and joint torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\).
 
virtual void calcDiff (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
 Compute the Jacobians of the actuation function.
 
template<typename NewScalar >
ActuationSquashingModelTpl< NewScalar > cast () const
 
virtual void commands (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &tau) override
 Compute the joint torque input from the generalized torques.
 
std::shared_ptr< ActuationDataAbstractcreateData () override
 Create the actuation data.
 
const std::shared_ptr< Base > & get_actuation () const
 
const std::shared_ptr< SquashingModelAbstract > & get_squashing () const
 
- Public Member Functions inherited from ActuationModelAbstractTpl< _Scalar >
 ActuationModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nu)
 Initialize the actuation model.
 
void calc (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 Ignore the computation of the actuation signal.
 
void calcDiff (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 Ignore the computation of the Jacobians of the actuation function.
 
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.
 
virtual void print (std::ostream &os) const
 Print relevant information of the residual model.
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from ActuationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Member Functions

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

Protected Attributes

std::shared_ptr< Baseactuation_
 
std::size_t nu_
 Dimension of joint torque inputs.
 
std::shared_ptr< SquashingModelAbstractsquashing_
 
- Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t nu_
 Dimension of joint torque inputs.
 
std::shared_ptr< StateAbstractstate_
 Model of the state.
 

Detailed Description

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

Definition at line 20 of file actuation-squashing.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 26 of file actuation-squashing.hpp.

◆ Base

template<typename _Scalar >
typedef ActuationModelAbstractTpl<Scalar> Base

Definition at line 27 of file actuation-squashing.hpp.

◆ Data

template<typename _Scalar >
typedef ActuationSquashingDataTpl<Scalar> Data

Definition at line 28 of file actuation-squashing.hpp.

◆ ActuationDataAbstract

template<typename _Scalar >
typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract

Definition at line 29 of file actuation-squashing.hpp.

◆ SquashingModelAbstract

template<typename _Scalar >
typedef SquashingModelAbstractTpl<Scalar> SquashingModelAbstract

Definition at line 30 of file actuation-squashing.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 31 of file actuation-squashing.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 32 of file actuation-squashing.hpp.

Constructor & Destructor Documentation

◆ ActuationSquashingModelTpl()

template<typename _Scalar >
ActuationSquashingModelTpl ( std::shared_ptr< Base actuation,
std::shared_ptr< SquashingModelAbstract squashing,
const std::size_t  nu 
)
inline

Definition at line 34 of file actuation-squashing.hpp.

Member Function Documentation

◆ calc()

template<typename _Scalar >
virtual void calc ( const std::shared_ptr< ActuationDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
inlineoverridevirtual

Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and joint torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\).

Parameters
[in]dataActuation data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uJoint-torque input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 43 of file actuation-squashing.hpp.

◆ calcDiff()

template<typename _Scalar >
virtual void calcDiff ( const std::shared_ptr< ActuationDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
inlineoverridevirtual

Compute the Jacobians of the actuation function.

Parameters
[in]dataActuation data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uJoint-torque input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 54 of file actuation-squashing.hpp.

◆ commands()

template<typename _Scalar >
virtual void commands ( const std::shared_ptr< ActuationDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  tau 
)
inlineoverridevirtual

Compute the joint torque input from the generalized torques.

It stores the results in ActuationDataAbstractTpl::u.

Parameters
[in]dataActuation data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]tauGeneralized torques \(\mathbf{u}\in\mathbb{R}^{nv}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 64 of file actuation-squashing.hpp.

◆ createData()

template<typename _Scalar >
std::shared_ptr< ActuationDataAbstract > createData ( )
inlineoverridevirtual

Create the actuation data.

Returns
the actuation data

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 76 of file actuation-squashing.hpp.

◆ cast()

template<typename _Scalar >
template<typename NewScalar >
ActuationSquashingModelTpl< NewScalar > cast ( ) const
inline

Definition at line 81 of file actuation-squashing.hpp.

◆ get_squashing()

template<typename _Scalar >
const std::shared_ptr< SquashingModelAbstract > & get_squashing ( ) const
inline

Definition at line 88 of file actuation-squashing.hpp.

◆ get_actuation()

template<typename _Scalar >
const std::shared_ptr< Base > & get_actuation ( ) const
inline

Definition at line 91 of file actuation-squashing.hpp.

◆ torqueTransform()

template<typename _Scalar >
virtual void torqueTransform ( const std::shared_ptr< ActuationDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
protectedvirtual

Compute the torque transform from generalized torques to joint torque inputs.

It stores the results in ActuationDataAbstractTpl::Mtau.

Parameters
[in]dataActuation data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]tauJoint-torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 25 of file actuation-squashing.hpp.

◆ squashing_

template<typename _Scalar >
std::shared_ptr<SquashingModelAbstract> squashing_
protected

Definition at line 94 of file actuation-squashing.hpp.

◆ actuation_

template<typename _Scalar >
std::shared_ptr<Base> actuation_
protected

Definition at line 95 of file actuation-squashing.hpp.

◆ nu_

template<typename _Scalar >
std::size_t nu_
protected

Dimension of joint torque inputs.

Definition at line 173 of file actuation-base.hpp.


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