This class computes the numerical differentiation of a residual model. More...

#include <residual.hpp>

Inheritance diagram for ResidualModelNumDiffTpl< _Scalar >:

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base

typedef ResidualDataNumDiffTpl< Scalar >	Data

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBaseTpl< Scalar >::MatrixXs	MatrixXs

typedef boost::function< void(const VectorXs &, const VectorXs &)>	ReevaluationFunction

typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract

typedef MathBaseTpl< Scalar >::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
	ResidualModelNumDiffTpl (const std::shared_ptr< Base > &model)
	Initialize the numdiff residual model.

virtual	~ResidualModelNumDiffTpl ()=default
	Initialize the numdiff residual model.

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

virtual void	calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the residual vector.

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 Jacobian of the residual vector.

template<typename NewScalar >
ResidualModelNumDiffTpl< NewScalar >	cast () const

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

const Scalar	get_disturbance () const
	Return the disturbance constant used by the numerical differentiation routine.

const std::shared_ptr< Base > &	get_model () const
	Return the original residual model.

void	set_disturbance (const Scalar disturbance)
	Modify the disturbance constant used by the numerical differentiation routine.

void	set_reevals (const std::vector< ReevaluationFunction > &reevals)
	Register functions that updates the shared data computed for a system rollout The updated data is used to evaluate of the gradient and Hessian.

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	calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	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)
	Compute the residual vector.

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.

virtual void	calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the Jacobian of the residual functions with respect to the state only.

virtual void	calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the Jacobian of the residual vector.

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.

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

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< StateAbstract >	state_
	State description.

VectorXs	unone_
	No control vector.

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_

Detailed Description

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

This class computes the numerical differentiation of a residual model.

It computes the Jacobian of the residual model via numerical differentiation, i.e., \(\mathbf{R_x}\) and \(\mathbf{R_u}\) which denote the Jacobians of the residual function \(\mathbf{r}(\mathbf{x},\mathbf{u})\).

See also: ResidualModelAbstractTpl(), calcDiff()

Definition at line 29 of file residual.hpp.

Member Typedef Documentation

◆ ResidualDataAbstract

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

Definition at line 35 of file residual.hpp.

◆ Base

template<typename _Scalar >

typedef ResidualModelAbstractTpl<Scalar> Base

Definition at line 36 of file residual.hpp.

◆ Data

template<typename _Scalar >

typedef ResidualDataNumDiffTpl<Scalar> Data

Definition at line 37 of file residual.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 38 of file residual.hpp.

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 39 of file residual.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 40 of file residual.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBaseTpl<Scalar>::MatrixXs MatrixXs

Definition at line 41 of file residual.hpp.

◆ ReevaluationFunction

template<typename _Scalar >

typedef boost::function<void(const VectorXs&, const VectorXs&)> ReevaluationFunction

Definition at line 43 of file residual.hpp.

Constructor & Destructor Documentation

◆ ResidualModelNumDiffTpl()

template<typename _Scalar >

ResidualModelNumDiffTpl ( const std::shared_ptr< Base > & model )

explicit

Initialize the numdiff residual model.

Parameters

model Residual model that we want to apply the numerical differentiation

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 residual vector.

Parameters

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

◆ calc() [2/2]

template<typename _Scalar >

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

overridevirtual

◆ 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 Jacobian of the residual vector.

It computes the Jacobian the residual function. It assumes that calc() has been run first.

Parameters

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

◆ 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

data	Data collector

Returns: the residual data

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ set_reevals()

template<typename _Scalar >

void set_reevals ( const std::vector< ReevaluationFunction > & reevals )

Register functions that updates the shared data computed for a system rollout The updated data is used to evaluate of the gradient and Hessian.

Parameters

reevals are the registered functions.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 34 of file residual.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.

◆ unone_

template<typename _Scalar >

VectorXs unone_

protected

No control vector.

Definition at line 233 of file residual-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/numdiff/residual.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ResidualDataAbstract

◆ Base

◆ Data

◆ DataCollectorAbstract

◆ MathBase

◆ VectorXs

◆ MatrixXs

◆ ReevaluationFunction

Constructor & Destructor Documentation

◆ ResidualModelNumDiffTpl()

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ set_reevals()

Member Data Documentation

◆ Scalar

◆ nu_

◆ state_

◆ unone_