Residual-based constraint. More...

#include <residual.hpp>

Inheritance diagram for ConstraintModelResidualTpl< _Scalar >:

Public Types
typedef ConstraintModelAbstractTpl< Scalar >	Base

typedef ConstraintDataAbstractTpl< Scalar >	ConstraintDataAbstract

typedef ConstraintDataResidualTpl< Scalar >	Data

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef ResidualModelAbstractTpl< Scalar >	ResidualModelAbstract

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ConstraintModelAbstractTpl< _Scalar >
typedef ConstraintDataAbstractTpl< Scalar >	ConstraintDataAbstract

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef ResidualModelAbstractTpl< Scalar >	ResidualModelAbstract

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ConstraintModelResidualTpl (std::shared_ptr< typename Base::StateAbstract > state, std::shared_ptr< ResidualModelAbstract > residual, const bool T_act=true)
	Initialize the residual constraint model as an equality constraint.

	ConstraintModelResidualTpl (std::shared_ptr< typename Base::StateAbstract > state, std::shared_ptr< ResidualModelAbstract > residual, const VectorXs &lower, const VectorXs &upper, const bool T_act=true)
	Initialize the residual constraint model as an inequality constraint.

virtual void	calc (const std::shared_ptr< ConstraintDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the residual constraint based on state only.

virtual void	calc (const std::shared_ptr< ConstraintDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the residual constraint.

virtual void	calcDiff (const std::shared_ptr< ConstraintDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the derivatives of the residual constraint with respect to the state only.

virtual void	calcDiff (const std::shared_ptr< ConstraintDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the derivatives of the residual constraint.

template<typename NewScalar >
ConstraintModelResidualTpl< NewScalar >	cast () const
	Cast the residual constraint model to a different scalar type.

virtual std::shared_ptr< ConstraintDataAbstract >	createData (DataCollectorAbstract *const data) override
	Create the residual constraint data.

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

Public Member Functions inherited from ConstraintModelAbstractTpl< _Scalar >
	ConstraintModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t ng, const std::size_t nh, const bool T_const=true)

	ConstraintModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t ng, const std::size_t nh, const bool T_const=true)
	the constraint model

	ConstraintModelAbstractTpl (std::shared_ptr< StateAbstract > state, std::shared_ptr< ResidualModelAbstract > residual, const std::size_t ng, const std::size_t nh)
	Initialize the constraint model.

const VectorXs &	get_lb () const
	Return the lower bound of the constraint.

std::size_t	get_ng () const
	Return the number of inequality constraints.

std::size_t	get_nh () const
	Return the number of equality constraints.

std::size_t	get_nu () const
	Return the dimension of the control input.

const std::shared_ptr< ResidualModelAbstract > &	get_residual () const
	Return the residual model.

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

bool	get_T_constraint () const
	Return true if the constraint is imposed in terminal nodes as well.

ConstraintType	get_type () const
	Return the type of constraint.

const VectorXs &	get_ub () const
	Return the upper bound of the constraint.

void	remove_bounds ()
	Remove the bounds of the constraint.

void	update_bounds (const VectorXs &lower, const VectorXs &upper)
	Update the lower and upper bounds the upper bound of constraint.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Public Attributes inherited from ConstraintModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
VectorXs	lb_
	Lower bound of the constraint.

std::size_t	ng_
	Number of inequality constraints.

std::size_t	nh_
	Number of equality constraints.

std::size_t	nu_
	Control dimension.

std::shared_ptr< ResidualModelAbstract >	residual_
	Residual model.

std::shared_ptr< StateAbstract >	state_
	State description.

bool	T_constraint_

ConstraintType	type_
	Type of constraint: inequality=0, equality=1, both=2.

VectorXs	ub_
	Upper bound of the constraint.

VectorXs	unone_
	No control vector.

Protected Attributes inherited from ConstraintModelAbstractTpl< _Scalar >
VectorXs	lb_
	Lower bound of the constraint.

std::size_t	ng_
	Number of inequality constraints.

std::size_t	nh_
	Number of equality constraints.

std::size_t	nu_
	Control dimension.

std::shared_ptr< ResidualModelAbstract >	residual_
	Residual model.

std::shared_ptr< StateAbstract >	state_
	State description.

bool	T_constraint_

ConstraintType	type_
	Type of constraint: inequality=0, equality=1, both=2.

VectorXs	ub_
	Upper bound of the constraint.

VectorXs	unone_
	No control vector.

Detailed Description

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

Residual-based constraint.

This constraint function uses a residual model to define equality / inequality constraint as

\[ \mathbf{\underline{r}} \leq \mathbf{r}(\mathbf{x}, \mathbf{u}) \leq \mathbf{\bar{r}} \]

where \(\mathbf{r}(\cdot)\) describes the residual function, and \(\mathbf{\underline{r}}\), \(\mathbf{\bar{r}}\) are the lower and upper bounds, respectively. We can define element-wise equality constraints by defining the same value for both: lower and upper values. Additionally, if we do not define the bounds, then it is assumed that \(\mathbf{\underline{r}}=\mathbf{\bar{r}}=\mathbf{0}\).

The main computations are carring out in calc and calcDiff routines. calc computes the constraint residual and calcDiff computes the Jacobians of the constraint function. Concretely speaking, calcDiff builds a linear approximation of the constraint function with the form: \(\mathbf{g_x}\in\mathbb{R}^{ng\times ndx}\), \(\mathbf{g_u}\in\mathbb{R}^{ng\times nu}\), \(\mathbf{h_x}\in\mathbb{R}^{nh\times ndx}\) \(\mathbf{h_u}\in\mathbb{R}^{nh\times nu}\). Additionally, it is important to note that calcDiff() computes the derivatives using the latest stored values by calc(). Thus, we need to run first calc().

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

Definition at line 47 of file residual.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 53 of file residual.hpp.

◆ Base

template<typename _Scalar >

typedef ConstraintModelAbstractTpl<Scalar> Base

Definition at line 54 of file residual.hpp.

◆ Data

template<typename _Scalar >

typedef ConstraintDataResidualTpl<Scalar> Data

Definition at line 55 of file residual.hpp.

◆ ConstraintDataAbstract

template<typename _Scalar >

typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract

Definition at line 56 of file residual.hpp.

◆ ResidualModelAbstract

template<typename _Scalar >

typedef ResidualModelAbstractTpl<Scalar> ResidualModelAbstract

Definition at line 57 of file residual.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 58 of file residual.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 59 of file residual.hpp.

Constructor & Destructor Documentation

◆ ConstraintModelResidualTpl() [1/2]

template<typename _Scalar >

ConstraintModelResidualTpl	(	std::shared_ptr< typename Base::StateAbstract >	state,
		std::shared_ptr< ResidualModelAbstract >	residual,
		const VectorXs &	lower,
		const VectorXs &	upper,
		const bool	T_act = `true`
	)

Initialize the residual constraint model as an inequality constraint.

Parameters

[in]	state	State of the multibody system
[in]	residual	Residual model
[in]	lower	Lower bound (dimension of the residual vector)
[in]	upper	Upper bound (dimension of the residual vector)
[in]	T_act	False if we want to deactivate the residual at the terminal node (default true)

◆ ConstraintModelResidualTpl() [2/2]

template<typename _Scalar >

ConstraintModelResidualTpl	(	std::shared_ptr< typename Base::StateAbstract >	state,
		std::shared_ptr< ResidualModelAbstract >	residual,
		const bool	T_act = `true`
	)

Initialize the residual constraint model as an equality constraint.

Parameters

[in]	state	State of the multibody system
[in]	residual	Residual model
[in]	T_act	False if we want to deactivate the residual at the terminal node (default true)

Member Function Documentation

◆ calc() [1/2]

template<typename _Scalar >

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

overridevirtual

Compute the residual constraint.

Parameters

[in]	data	Residual constraint data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ConstraintModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

template<typename _Scalar >

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

overridevirtual

Compute the residual constraint based on state only.

It updates the constraint based on the state only. This function is commonly used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Residual constraint data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from ConstraintModelAbstractTpl< _Scalar >.

◆ calcDiff() [1/2]

template<typename _Scalar >

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

overridevirtual

Compute the derivatives of the residual constraint.

Parameters

[in]	data	Residual constraint data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ConstraintModelAbstractTpl< _Scalar >.

◆ calcDiff() [2/2]

template<typename _Scalar >

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

overridevirtual

Compute the derivatives of the residual constraint with respect to the state only.

It updates the Jacobian of the constraint function based on the state only. This function is commonly used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Residual constraint data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from ConstraintModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< ConstraintDataAbstract > createData ( DataCollectorAbstract *const data )

overridevirtual

Create the residual constraint data.

Reimplemented from ConstraintModelAbstractTpl< _Scalar >.

◆ cast()

template<typename _Scalar >

template<typename NewScalar >

ConstraintModelResidualTpl< NewScalar > cast ( ) const

Cast the residual constraint model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters

NewScalar The new scalar type to cast to.

Returns: ConstraintModelResidualTpl<NewScalar> A constraint model with the new scalar type.

◆ print()

template<typename _Scalar >

virtual void print ( std::ostream & os ) const

overridevirtual

Print relevant information of the cost-residual model.

Parameters

[out] os Output stream object

Reimplemented from ConstraintModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 52 of file residual.hpp.

◆ lb_

template<typename _Scalar >

VectorXs lb_

protected

Lower bound of the constraint.

Definition at line 256 of file constraint-base.hpp.

◆ ng_

template<typename _Scalar >

std::size_t ng_

protected

Number of inequality constraints.

Definition at line 259 of file constraint-base.hpp.

◆ nh_

template<typename _Scalar >

std::size_t nh_

protected

Number of equality constraints.

Definition at line 260 of file constraint-base.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Control dimension.

Definition at line 258 of file constraint-base.hpp.

◆ residual_

template<typename _Scalar >

std::shared_ptr<ResidualModelAbstract> residual_

protected

Residual model.

Definition at line 253 of file constraint-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateAbstract> state_

protected

State description.

Definition at line 252 of file constraint-base.hpp.

◆ T_constraint_

template<typename _Scalar >

bool T_constraint_

protected

Label that indicates if the constraint is imposed in terminal nodes as well

Definition at line 261 of file constraint-base.hpp.

◆ type_

template<typename _Scalar >

ConstraintType type_

protected

Type of constraint: inequality=0, equality=1, both=2.

Definition at line 255 of file constraint-base.hpp.

◆ ub_

template<typename _Scalar >

VectorXs ub_

protected

Upper bound of the constraint.

Definition at line 257 of file constraint-base.hpp.

◆ unone_

template<typename _Scalar >

VectorXs unone_

protected

No control vector.

Definition at line 263 of file constraint-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/constraints/residual.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ ConstraintDataAbstract

◆ ResidualModelAbstract

◆ DataCollectorAbstract

◆ VectorXs

Constructor & Destructor Documentation

◆ ConstraintModelResidualTpl() [1/2]

◆ ConstraintModelResidualTpl() [2/2]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ cast()

◆ print()

Member Data Documentation

◆ Scalar

◆ lb_

◆ ng_

◆ nh_

◆ nu_

◆ residual_

◆ state_

◆ T_constraint_

◆ type_

◆ ub_

◆ unone_