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DifferentialActionModelContactInvDynamicsTpl< _Scalar >::ResidualModelContact Class Reference

Contact-acceleration residual. More...

#include <contact-invdyn.hpp>

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

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< ResidualDataAbstractcreateData (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< 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 >::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]stateState of the multibody system
[in]idContact frame id
[in]nrDimension of the contact-acceleration residual
[in]ncDimension 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]dataContact-acceleration 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 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]dataResidual data
[in]xState 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]dataContact-acceleration 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 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
NewScalarThe 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]osOutput 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: