Abstract class for the actuation-mapping model. More...
#include <crocoddyl/core/actuation-base.hpp>
Public Types | |
typedef ActuationDataAbstractTpl< Scalar > | ActuationDataAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef StateAbstractTpl< Scalar > | StateAbstract |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
ActuationModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu) | |
Initialize the actuation model. More... | |
void | calc (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Ignore the computation of the actuation signal. More... | |
virtual void | calc (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0 |
Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and control input \(\mathbf{u}\in\mathbb{R}^{nu}\). More... | |
void | calcDiff (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) |
Ignore the computation of the Jacobians of the actuation function. More... | |
virtual void | calcDiff (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0 |
Compute the Jacobians of the actuation function. More... | |
virtual boost::shared_ptr< ActuationDataAbstract > | createData () |
Create the actuation data. More... | |
std::size_t | get_nu () const |
Return the dimension of the control input. | |
const boost::shared_ptr< StateAbstract > & | get_state () const |
Return the state. | |
virtual void | print (std::ostream &os) const |
Print relevant information of the residual model. More... | |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Attributes | |
std::size_t | nu_ |
Control dimension. | |
boost::shared_ptr< StateAbstract > | state_ |
Model of the state. | |
Friends | |
template<class Scalar > | |
std::ostream & | operator<< (std::ostream &os, const ResidualModelAbstractTpl< Scalar > &model) |
Print information on the residual model. | |
Abstract class for the actuation-mapping model.
The generalized torques \(\boldsymbol{\tau}\in\mathbb{R}^{nv}\) can by any nonlinear function of the control inputs \(\mathbf{u}\in\mathbb{R}^{nu}\), and state point \(\mathbf{x}\in\mathbb{R}^{nx}\), where nv
, nu
, and ndx
are the number of joints, dimension of the control input and state manifold, respectively. Additionally, the generalized torques are also named as the actuation signals of our system.
The main computations are carrying out in calc()
, and calcDiff()
, where the former computes actuation signal, and the latter computes the Jacobians of the actuation-mapping function, i.e., \(\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{x}}\) and \(\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{u}}\). Note that calcDiff()
requires to run calc()
first.
calc()
, calcDiff()
, createData()
Definition at line 39 of file actuation-base.hpp.
ActuationModelAbstractTpl | ( | boost::shared_ptr< StateAbstract > | state, |
const std::size_t | nu | ||
) |
Initialize the actuation model.
[in] | state | State description |
[in] | nu | Dimension of control vector |
|
pure virtual |
Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and control input \(\mathbf{u}\in\mathbb{R}^{nu}\).
[in] | data | Actuation data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Implemented in ActuationModelMultiCopterBaseTpl< _Scalar >, ActuationModelFloatingBaseTpl< _Scalar >, ActuationModelFullTpl< _Scalar >, and ActuationSquashingModelTpl< _Scalar >.
void calc | ( | const boost::shared_ptr< ActuationDataAbstract > & | data, |
const Eigen::Ref< const VectorXs > & | x | ||
) |
Ignore the computation of the actuation signal.
It does not update the actuation signal as this function is used in the terminal nodes of an optimal control problem.
[in] | data | Actuation data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
|
pure virtual |
Compute the Jacobians of the actuation function.
[in] | data | Actuation data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
Implemented in ActuationModelMultiCopterBaseTpl< _Scalar >, ActuationModelFloatingBaseTpl< _Scalar >, ActuationModelFullTpl< _Scalar >, and ActuationSquashingModelTpl< _Scalar >.
void calcDiff | ( | const boost::shared_ptr< ActuationDataAbstract > & | data, |
const Eigen::Ref< const VectorXs > & | x | ||
) |
Ignore the computation of the Jacobians of the actuation function.
It does not update the Jacobians of the actuation function as this function is used in the terminal nodes of an optimal control problem.
[in] | data | Actuation data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
|
virtual |
Create the actuation data.
Reimplemented in ActuationModelMultiCopterBaseTpl< _Scalar >, ActuationModelFloatingBaseTpl< _Scalar >, ActuationModelFullTpl< _Scalar >, and ActuationSquashingModelTpl< _Scalar >.
|
virtual |
Print relevant information of the residual model.
[out] | os | Output stream object |