Actuation residual. More...
#include <free-invdyn.hpp>
Public Types | |
typedef ActuationModelAbstractTpl< Scalar > | ActuationModelAbstract |
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 |
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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) | |
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 > | |
DifferentialActionModelFreeInvDynamicsTpl< 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, DifferentialActionModelFreeInvDynamicsTpl, 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 | na_ |
Dimension of the joint torques. | |
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 DifferentialActionModelFreeInvDynamicsTpl
.
As described in ResidualModelAbstractTpl
, the residual value and its Jacobians are calculated by calc
and calcDiff
, respectively.
ResidualModelAbstractTpl
, calc()
, calcDiff()
, createData()
Definition at line 268 of file free-invdyn.hpp.
typedef MathBaseTpl<Scalar> MathBase |
Definition at line 276 of file free-invdyn.hpp.
typedef ResidualModelAbstractTpl<Scalar> Base |
Definition at line 277 of file free-invdyn.hpp.
typedef StateMultibodyTpl<Scalar> StateMultibody |
Definition at line 278 of file free-invdyn.hpp.
typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract |
Definition at line 279 of file free-invdyn.hpp.
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract |
Definition at line 280 of file free-invdyn.hpp.
typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract |
Definition at line 281 of file free-invdyn.hpp.
typedef MathBase::VectorXs VectorXs |
Definition at line 282 of file free-invdyn.hpp.
typedef MathBase::MatrixXs MatrixXs |
Definition at line 283 of file free-invdyn.hpp.
|
inline |
Initialize the actuation residual model.
[in] | state | State of the multibody system |
[in] | nu | Dimension of the joint torques |
Definition at line 291 of file free-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 304 of file free-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 324 of file free-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 336 of file free-invdyn.hpp.
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inlineoverridevirtual |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 361 of file free-invdyn.hpp.
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inlineoverridevirtual |
Create the actuation residual data.
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 372 of file free-invdyn.hpp.
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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 393 of file free-invdyn.hpp.
|
inlineoverridevirtual |
Print relevant information of the actuation residual model.
[out] | os | Output stream object |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 408 of file free-invdyn.hpp.
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protected |
Dimension of the joint torques.
Definition at line 415 of file free-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.