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ResidualModelControlGravTpl< _Scalar > Class Template Reference

Control gravity residual. More...

#include <control-gravity.hpp>

Inheritance diagram for ResidualModelControlGravTpl< _Scalar >:
ResidualModelAbstractTpl< _Scalar > ResidualModelBase

Public Types

typedef ResidualModelAbstractTpl< Scalar > Base
 
typedef ResidualDataControlGravTpl< Scalar > Data
 
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

 ResidualModelControlGravTpl (std::shared_ptr< StateMultibody > state)
 Initialize the control gravity residual model.
 
 ResidualModelControlGravTpl (std::shared_ptr< StateMultibody > state, const std::size_t nu)
 Initialize the control gravity residual model.
 
virtual void calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) 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 > &x, const Eigen::Ref< const VectorXs > &u) override
 Compute the control gravity residual.
 
virtual void calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
 
virtual void calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
 Compute the Jacobians of the control gravity residual.
 
template<typename NewScalar >
ResidualModelControlGravTpl< NewScalar > cast () const
 Cast the control-gravity residual model to a different scalar type.
 
virtual std::shared_ptr< ResidualDataAbstractcreateData (DataCollectorAbstract *const data) override
 Create the residual data.
 
virtual void print (std::ostream &os) const override
 Print relevant information of the control-grav residual.
 
- 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.
 

Public Attributes

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

Protected Attributes

std::size_t nu_
 Control dimension.
 
std::shared_ptr< StateAbstractstate_
 State description.
 
bool v_dependent_
 
- 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_
 

Detailed Description

template<typename _Scalar>
class crocoddyl::ResidualModelControlGravTpl< _Scalar >

Control gravity residual.

This residual function is defined as \(\mathbf{r}=\mathbf{u}-\mathbf{g}(\mathbf{q})\), where \(\mathbf{u}\in~\mathbb{R}^{nu}\) is the current control input, \(\mathbf{g}(\mathbf{q})\) is the gravity torque corresponding to the current configuration, \(\mathbf{q}\in~\mathbb{R}^{nq}\) the current position joints input. Note that the dimension of the residual vector is obtained from StateAbstractTpl::get_nv().

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 36 of file control-gravity.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> MathBase

Definition at line 42 of file control-gravity.hpp.

◆ Base

template<typename _Scalar >
typedef ResidualModelAbstractTpl<Scalar> Base

Definition at line 43 of file control-gravity.hpp.

◆ Data

template<typename _Scalar >
typedef ResidualDataControlGravTpl<Scalar> Data

Definition at line 44 of file control-gravity.hpp.

◆ ResidualDataAbstract

template<typename _Scalar >
typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

Definition at line 45 of file control-gravity.hpp.

◆ StateMultibody

template<typename _Scalar >
typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 46 of file control-gravity.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 47 of file control-gravity.hpp.

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs VectorXs

Definition at line 48 of file control-gravity.hpp.

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs MatrixXs

Definition at line 49 of file control-gravity.hpp.

Constructor & Destructor Documentation

◆ ResidualModelControlGravTpl() [1/2]

template<typename _Scalar >
ResidualModelControlGravTpl ( std::shared_ptr< StateMultibody state,
const std::size_t  nu 
)

Initialize the control gravity residual model.

Parameters
[in]stateState of the multibody system
[in]nuDimension of control vector

◆ ResidualModelControlGravTpl() [2/2]

template<typename _Scalar >
ResidualModelControlGravTpl ( std::shared_ptr< StateMultibody state)

Initialize the control gravity residual model.

The default nu value is obtained from StateAbstractTpl::get_nv().

Parameters
[in]stateState of the multibody system

Member Function Documentation

◆ calc() [1/2]

template<typename _Scalar >
virtual void calc ( const std::shared_ptr< ResidualDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
overridevirtual

Compute the control gravity residual.

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

template<typename _Scalar >
virtual void calc ( const std::shared_ptr< ResidualDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x 
)
overridevirtual

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 >.

◆ calcDiff() [1/2]

template<typename _Scalar >
virtual void calcDiff ( const std::shared_ptr< ResidualDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x,
const Eigen::Ref< const VectorXs > &  u 
)
overridevirtual

Compute the Jacobians of the control gravity residual.

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calcDiff() [2/2]

template<typename _Scalar >
virtual void calcDiff ( const std::shared_ptr< ResidualDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  x 
)
overridevirtual

◆ createData()

template<typename _Scalar >
virtual std::shared_ptr< ResidualDataAbstract > createData ( DataCollectorAbstract *const  data)
overridevirtual

Create the residual data.

The default data contains objects to store the values of the residual vector and their Jacobians. However, it is possible to specialize this function if we need to create additional data, for instance, to avoid dynamic memory allocation.

Parameters
dataData collector
Returns
the residual data

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ cast()

template<typename _Scalar >
template<typename NewScalar >
ResidualModelControlGravTpl< NewScalar > cast ( ) const

Cast the control-gravity 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
ResidualModelControlGravTpl<NewScalar> A residual model with the new scalar type.

◆ print()

template<typename _Scalar >
virtual void print ( std::ostream &  os) const
overridevirtual

Print relevant information of the control-grav residual.

Parameters
[out]osOutput stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 41 of file control-gravity.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.

◆ v_dependent_

template<typename _Scalar >
bool v_dependent_
protected

Label that indicates if the residual function depends on v

Definition at line 236 of file residual-base.hpp.


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