Actuation residual. More...
#include <contact-invdyn.hpp>
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 |
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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. | |
virtual void | calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &) override |
Compute the residual vector for nodes that depends only on the state. | |
virtual void | calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &) override |
Compute the actuation residual. | |
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. | |
template<typename NewScalar > | |
DifferentialActionModelContactInvDynamicsTpl< NewScalar >::ResidualModelActuation | cast () const |
Cast the actuation-residual model to a different scalar type. | |
virtual std::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) override |
Create the actuation residual data. | |
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. | |
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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. | |
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. | |
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< StateAbstract > | state_ |
State description. | |
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std::size_t | nr_ |
Residual vector dimension. | |
std::size_t | nu_ |
Control dimension. | |
bool | q_dependent_ |
std::shared_ptr< StateAbstract > | state_ |
State description. | |
bool | u_dependent_ |
VectorXs | unone_ |
No control vector. | |
bool | v_dependent_ |
Additional Inherited Members | |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
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.
ResidualModelAbstractTpl
, calc()
, calcDiff()
, createData()
Definition at line 286 of file contact-invdyn.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 294 of file contact-invdyn.hpp.
typedef ResidualModelAbstractTpl<Scalar> Base |
Definition at line 295 of file contact-invdyn.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 296 of file contact-invdyn.hpp.
typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract |
Definition at line 297 of file contact-invdyn.hpp.
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
Definition at line 298 of file contact-invdyn.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 299 of file contact-invdyn.hpp.
|
inline |
Initialize the actuation residual model.
[in] | state | State of the multibody system |
[in] | nu | Dimension of the joint torques |
[in] | nc | Dimension of all the contacts |
Definition at line 308 of file contact-invdyn.hpp.
|
inlineoverridevirtual |
Compute the actuation residual.
[in] | data | Actuation residual data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nv+nu}\) |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 323 of file contact-invdyn.hpp.
|
inlineoverridevirtual |
Compute the residual vector for nodes that depends only on the state.
It updates the residual vector based on the state only. This function is used in the terminal nodes of an optimal control problem.
[in] | data | Residual data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 343 of file contact-invdyn.hpp.
|
inlineoverridevirtual |
Compute the derivatives of the actuation residual.
[in] | data | Actuation residual data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 355 of file contact-invdyn.hpp.
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inlineoverridevirtual |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 382 of file contact-invdyn.hpp.
|
inlineoverridevirtual |
Create the actuation residual data.
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 393 of file contact-invdyn.hpp.
|
inline |
Cast the actuation-residual model to a different scalar type.
It is useful for operations requiring different precision or scalar types.
NewScalar | The new scalar type to cast to. |
Definition at line 414 of file contact-invdyn.hpp.
|
inlineoverridevirtual |
Print relevant information of the actuation residual model.
[out] | os | Output stream object |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 429 of file contact-invdyn.hpp.
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protected |
Control dimension.
Definition at line 232 of file residual-base.hpp.
|
protected |
State description.
Definition at line 230 of file residual-base.hpp.