Contact-acceleration residual. More...

#include <contact-invdyn.hpp>

Inheritance diagram for DifferentialActionModelContactInvDynamicsTpl< _Scalar >::ResidualModelContact:

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

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
	ResidualModelContact (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const std::size_t nr, const std::size_t nc)
	Initialize the contact-acceleration 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.

void	calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &) override
	Compute the contact-acceleration residual.

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

void	calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &) override
	Compute the derivatives of the contact-acceleration residual.

template<typename NewScalar >
DifferentialActionModelContactInvDynamicsTpl< NewScalar >::ResidualModelContact	cast () const
	Cast the contact-residual model to a different scalar type.

virtual std::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data) override
	Create the contact-acceleration residual data.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CROCODDYL_INNER_DERIVED_CAST (ResidualModelBase, DifferentialActionModelContactInvDynamicsTpl, ResidualModelContact) typedef _Scalar Scalar

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

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.

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	nr_
	Residual vector dimension.

std::size_t	nu_
	Control dimension.

std::shared_ptr< StateAbstract >	state_
	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< StateAbstract >	state_
	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 >::ResidualModelContact

Contact-acceleration residual.

This residual function is defined as \(\mathbf{r} = \mathbf{a_0}\), where \(\mathbf{a_0}\) defines the desired contact acceleration, which might also include the Baumgarte stabilization gains. Furthermore, the Jacobians of the residual function are computed analytically. This is used by ConstraintModelManagerTpl inside parent DifferentialActionModelContactInvDynamicsTpl class.

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 460 of file contact-invdyn.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 468 of file contact-invdyn.hpp.

◆ Base

template<typename _Scalar >

typedef ResidualModelAbstractTpl<Scalar> Base

Definition at line 469 of file contact-invdyn.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 470 of file contact-invdyn.hpp.

◆ ResidualDataAbstract

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

Definition at line 471 of file contact-invdyn.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 472 of file contact-invdyn.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 473 of file contact-invdyn.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 474 of file contact-invdyn.hpp.

Constructor & Destructor Documentation

◆ ResidualModelContact()

template<typename _Scalar >

ResidualModelContact	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const std::size_t	nr,
		const std::size_t	nc
	)

inline

Initialize the contact-acceleration residual model.

Parameters

[in]	state	State of the multibody system
[in]	id	Contact frame id
[in]	nr	Dimension of the contact-acceleration residual
[in]	nc	Dimension of all contacts

Definition at line 484 of file contact-invdyn.hpp.

Member Function Documentation

◆ calc() [1/2]

template<typename _Scalar >

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

inlineoverridevirtual

Compute the contact-acceleration residual.

Parameters

[in]	data	Contact-acceleration 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 500 of file contact-invdyn.hpp.

◆ calc() [2/2]

template<typename _Scalar >

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

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.

Parameters

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 512 of file contact-invdyn.hpp.

◆ calcDiff() [1/2]

template<typename _Scalar >

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

inlineoverridevirtual

Compute the derivatives of the contact-acceleration residual.

Parameters

[in]	data	Contact-acceleration 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 524 of file contact-invdyn.hpp.

◆ calcDiff() [2/2]

template<typename _Scalar >

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

inlineoverridevirtual

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 538 of file contact-invdyn.hpp.

◆ createData()

template<typename _Scalar >

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

inlineoverridevirtual

Create the contact-acceleration residual data.

Returns: contact-acceleration residual data

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 549 of file contact-invdyn.hpp.

◆ cast()

template<typename _Scalar >

template<typename NewScalar >

DifferentialActionModelContactInvDynamicsTpl< NewScalar >::ResidualModelContact cast ( ) const

inline

Cast the contact-residual 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: typename DifferentialActionModelContactInvDynamicsTpl<NewScalar>::ResidualModelContact A residual model with the new scalar type.

Definition at line 570 of file contact-invdyn.hpp.

◆ print()

template<typename _Scalar >

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

inlineoverridevirtual

Print relevant information of the contact-acceleration residual model.

Parameters

[out] os Output stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 586 of file contact-invdyn.hpp.

Member Data Documentation

◆ nr_

template<typename _Scalar >

std::size_t nr_

protected

Residual vector dimension.

Definition at line 231 of file residual-base.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Control dimension.

Definition at line 232 of file residual-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateAbstract> state_

protected

State description.

Definition at line 230 of file residual-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/multibody/actions/contact-invdyn.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ StateMultibody

◆ ResidualDataAbstract

◆ DataCollectorAbstract

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ResidualModelContact()

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ cast()

◆ print()

Member Data Documentation

◆ nr_

◆ nu_

◆ state_