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 |
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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< ActuationDataAbstract > | createData () override |
Create the actuation data. | |
const std::shared_ptr< Base > & | get_actuation () const |
const std::shared_ptr< SquashingModelAbstract > & | get_squashing () const |
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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 |
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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< Base > | actuation_ |
std::size_t | nu_ |
Dimension of joint torque inputs. | |
std::shared_ptr< SquashingModelAbstract > | squashing_ |
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std::size_t | nu_ |
Dimension of joint torque inputs. | |
std::shared_ptr< StateAbstract > | state_ |
Model of the state. | |
Definition at line 20 of file actuation-squashing.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 26 of file actuation-squashing.hpp.
typedef ActuationModelAbstractTpl<Scalar> Base |
Definition at line 27 of file actuation-squashing.hpp.
typedef ActuationSquashingDataTpl<Scalar> Data |
Definition at line 28 of file actuation-squashing.hpp.
typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract |
Definition at line 29 of file actuation-squashing.hpp.
typedef SquashingModelAbstractTpl<Scalar> SquashingModelAbstract |
Definition at line 30 of file actuation-squashing.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 31 of file actuation-squashing.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 32 of file actuation-squashing.hpp.
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inline |
Definition at line 34 of file actuation-squashing.hpp.
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inlineoverridevirtual |
Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and joint torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\).
[in] | data | 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 43 of file actuation-squashing.hpp.
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inlineoverridevirtual |
Compute the Jacobians of the actuation function.
[in] | data | 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 54 of file actuation-squashing.hpp.
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inlineoverridevirtual |
Compute the joint torque input from the generalized torques.
It stores the results in ActuationDataAbstractTpl::u
.
[in] | data | Actuation data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | tau | Generalized torques \(\mathbf{u}\in\mathbb{R}^{nv}\) |
Implements ActuationModelAbstractTpl< _Scalar >.
Definition at line 64 of file actuation-squashing.hpp.
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inlineoverridevirtual |
Create the actuation data.
Reimplemented from ActuationModelAbstractTpl< _Scalar >.
Definition at line 76 of file actuation-squashing.hpp.
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inline |
Definition at line 81 of file actuation-squashing.hpp.
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inline |
Definition at line 88 of file actuation-squashing.hpp.
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inline |
Definition at line 91 of file actuation-squashing.hpp.
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protectedvirtual |
Compute the torque transform from generalized torques to joint torque inputs.
It stores the results in ActuationDataAbstractTpl::Mtau
.
[in] | data | Actuation data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | tau | Joint-torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Reimplemented from ActuationModelAbstractTpl< _Scalar >.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar |
Definition at line 25 of file actuation-squashing.hpp.
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protected |
Definition at line 94 of file actuation-squashing.hpp.
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protected |
Definition at line 95 of file actuation-squashing.hpp.
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protected |
Dimension of joint torque inputs.
Definition at line 173 of file actuation-base.hpp.