ActuationModelAbstractTpl< _Scalar > Class Template Reference

Abstract class for the actuation-mapping model. More...

#include <crocoddyl/core/actuation-base.hpp>

Inheritance diagram for ActuationModelAbstractTpl< _Scalar >:

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.

Detailed Description

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

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.

See also

calc(), calcDiff(), createData()

Definition at line 39 of file actuation-base.hpp.

Constructor & Destructor Documentation

ActuationModelAbstractTpl()

ActuationModelAbstractTpl	(	boost::shared_ptr< StateAbstract >	state,
		const std::size_t	nu
	)

Initialize the actuation model.

Parameters

[in]	state	State description
[in]	nu	Dimension of control vector

Member Function Documentation

calc() [1/2]

virtual void calc ( const boost::shared_ptr< ActuationDataAbstract > &  data, const Eigen::Ref< const VectorXs > &  x, const Eigen::Ref< const VectorXs > &  u  )

pure virtual

Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and control input \(\mathbf{u}\in\mathbb{R}^{nu}\).

Parameters

[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 >.

calc() [2/2]

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.

Parameters

[in]	data	Actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

calcDiff() [1/2]

virtual void calcDiff ( const boost::shared_ptr< ActuationDataAbstract > &  data, const Eigen::Ref< const VectorXs > &  x, const Eigen::Ref< const VectorXs > &  u  )

pure virtual

Compute the Jacobians of the actuation function.

Parameters

[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 >.

calcDiff() [2/2]

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.

Parameters

[in]	data	Actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

createData()

virtual boost::shared_ptr<ActuationDataAbstract> createData ( )

virtual

Create the actuation data.

Returns

the actuation data

Reimplemented in ActuationModelMultiCopterBaseTpl< _Scalar >, ActuationModelFloatingBaseTpl< _Scalar >, ActuationModelFullTpl< _Scalar >, and ActuationSquashingModelTpl< _Scalar >.

print()

virtual void print ( std::ostream &  os ) const

virtual

Print relevant information of the residual model.

Parameters

[out]

os

Output stream object

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

• include/crocoddyl/core/actuation-base.hpp