Crocoddyl
DifferentialActionModelContactInvDynamicsTpl< _Scalar >::ResidualModelActuation Class Reference

Actuation residual. More...

#include <contact-invdyn.hpp>

Inheritance diagram for DifferentialActionModelContactInvDynamicsTpl< _Scalar >::ResidualModelActuation:
ResidualModelAbstractTpl< _Scalar > ResidualModelBase

Public Types

typedef ResidualModelAbstractTpl< Scalar > Base
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef ResidualDataAbstractTpl< Scalar > ResidualDataAbstract
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef MathBase::VectorXs VectorXs
 
- Public Types inherited from ResidualModelAbstractTpl< _Scalar >
typedef ActivationDataAbstractTpl< Scalar > ActivationDataAbstract
 
typedef CostDataAbstractTpl< Scalar > CostDataAbstract
 
typedef DataCollectorAbstractTpl< Scalar > DataCollectorAbstract
 
typedef MathBase::DiagonalMatrixXs DiagonalMatrixXs
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef ResidualDataAbstractTpl< Scalar > ResidualDataAbstract
 
typedef StateAbstractTpl< Scalar > StateAbstract
 
typedef MathBase::VectorXs VectorXs
 

Public Member Functions

 ResidualModelActuation (std::shared_ptr< StateMultibody > state, const std::size_t nu, const std::size_t nc)
 Initialize the actuation residual model. More...
 
virtual void calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &) override
 
virtual void calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &) override
 Compute the actuation residual. More...
 
virtual void calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &) override
 
virtual void calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &) override
 Compute the derivatives of the actuation residual. More...
 
template<typename NewScalar >
DifferentialActionModelContactInvDynamicsTpl< NewScalar >::ResidualModelActuation cast () const
 Cast the actuation-residual model to a different scalar type. More...
 
virtual std::shared_ptr< ResidualDataAbstractcreateData (DataCollectorAbstract *const data) override
 Create the actuation residual data. More...
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW CROCODDYL_INNER_DERIVED_CAST (ResidualModelBase, DifferentialActionModelContactInvDynamicsTpl, ResidualModelActuation) typedef _Scalar Scalar
 
virtual void print (std::ostream &os) const override
 Print relevant information of the actuation residual model. More...
 
- Public Member Functions inherited from ResidualModelAbstractTpl< _Scalar >
 ResidualModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nr, const bool q_dependent=true, const bool v_dependent=true, const bool u_dependent=true)
 
 ResidualModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu, const bool q_dependent=true, const bool v_dependent=true, const bool u_dependent=true)
 Initialize the residual model. More...
 
virtual void calcCostDiff (const std::shared_ptr< CostDataAbstract > &cdata, const std::shared_ptr< ResidualDataAbstract > &rdata, const std::shared_ptr< ActivationDataAbstract > &adata, const bool update_u=true)
 Compute the derivative of the cost function. More...
 
std::size_t get_nr () const
 Return the dimension of the residual vector.
 
std::size_t get_nu () const
 Return the dimension of the control input.
 
bool get_q_dependent () const
 Return true if the residual function depends on q.
 
const std::shared_ptr< StateAbstract > & get_state () const
 Return the state.
 
bool get_u_dependent () const
 Return true if the residual function depends on u.
 
bool get_v_dependent () const
 Return true if the residual function depends on v.
 

Protected Attributes

std::size_t nu_
 Control dimension.
 
std::shared_ptr< StateAbstractstate_
 State description.
 
- Protected Attributes inherited from ResidualModelAbstractTpl< _Scalar >
std::size_t nr_
 Residual vector dimension.
 
std::size_t nu_
 Control dimension.
 
bool q_dependent_
 
std::shared_ptr< StateAbstractstate_
 State description.
 
bool u_dependent_
 
VectorXs unone_
 No control vector.
 
bool v_dependent_
 

Additional Inherited Members

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

Detailed Description

template<typename _Scalar>
class crocoddyl::DifferentialActionModelContactInvDynamicsTpl< _Scalar >::ResidualModelActuation

Actuation residual.

This residual function enforces the torques of under-actuated joints (e.g., floating-base joints) to be zero. We compute these torques and their derivatives using RNEA inside DifferentialActionModelContactInvDynamicsTpl.

As described in ResidualModelAbstractTpl, the residual value and its Jacobians are calculated by calc and calcDiff, respectively.

See also
ResidualModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 286 of file contact-invdyn.hpp.

Constructor & Destructor Documentation

◆ ResidualModelActuation()

ResidualModelActuation ( std::shared_ptr< StateMultibody state,
const std::size_t  nu,
const std::size_t  nc 
)
inline

Initialize the actuation residual model.

Parameters
[in]stateState of the multibody system
[in]nuDimension of the joint torques
[in]ncDimension of all the contacts

Definition at line 308 of file contact-invdyn.hpp.

Member Function Documentation

◆ calc() [1/2]

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

Compute the actuation residual.

Parameters
[in]dataActuation residual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nv+nu}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 323 of file contact-invdyn.hpp.

◆ calc() [2/2]

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

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

Parameters
[in]dataResidual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 343 of file contact-invdyn.hpp.

◆ calcDiff() [1/2]

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

Compute the derivatives of the actuation residual.

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 355 of file contact-invdyn.hpp.

◆ calcDiff() [2/2]

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 382 of file contact-invdyn.hpp.

◆ createData()

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

Create the actuation residual data.

Returns
Actuation residual data

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 393 of file contact-invdyn.hpp.

◆ cast()

Cast the actuation-residual model to a different scalar type.

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

Template Parameters
NewScalarThe new scalar type to cast to.
Returns
DifferentialActionModelContactInvDynamicsTpl<NewScalar>::ResidualModelActuation A residual model with the new scalar type.

Definition at line 414 of file contact-invdyn.hpp.

◆ print()

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

Print relevant information of the actuation residual model.

Parameters
[out]osOutput stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 429 of file contact-invdyn.hpp.


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