Inheritance diagram for ActuationSquashingModelTpl< _Scalar >:

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 \(\mathbf{u}\in\mathbb{R}^{nu}\). More...

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. More...

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. More...

std::shared_ptr< ActuationDataAbstract >	createData () override
	Create the actuation data. More...

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. 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.

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

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. More...

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. More...

Protected Attributes
std::shared_ptr< Base >	actuation_

std::size_t	nu_
	Dimension of joint torque inputs.

std::shared_ptr< SquashingModelAbstract >	squashing_

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

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

Detailed Description

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

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

Member Function Documentation

◆ calc()

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]	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.

◆ calcDiff()

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]	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.

◆ commands()

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]	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.

◆ createData()

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.

◆ torqueTransform()

virtual void torqueTransform

protected

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

It stores the results in ActuationDataAbstractTpl::Mtau.

Parameters

[in]	data	Actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	tau	Joint-torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\)

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/actuation/actuation-squashing.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

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

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ commands()

◆ createData()

◆ torqueTransform()

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