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

#include <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 joint torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\). 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 void	commands (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &tau)=0
	Compute the joint torque input from the generalized torques. More...

virtual boost::shared_ptr< ActuationDataAbstract >	createData ()
	Create the actuation data. More...

std::size_t	get_nu () const
	Return the dimension of the joint-torque 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...

virtual void	torqueTransform (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the torque transform from generalized torques to joint torque inputs. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::size_t	nu_
	Dimension of joint torque inputs.

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 joint-torque 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 joint torque input and state manifold, respectively. Additionally, the generalized torques are also named as the actuation signals of our system.

The main computations are carried 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 45 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 joint-torque input

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 joint torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\).

Parameters

[in]	data	Actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Joint-torque input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implemented in ActuationModelMultiCopterBaseTpl< _Scalar >, ActuationModelFullTpl< _Scalar >, ActuationModelFloatingBaseTpl< _Scalar >, ActuationModelFloatingBaseThrustersTpl< _Scalar >, ActuationModelNumDiffTpl< _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	Joint-torque input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implemented in ActuationModelMultiCopterBaseTpl< _Scalar >, ActuationModelFullTpl< _Scalar >, ActuationModelFloatingBaseTpl< _Scalar >, ActuationModelFloatingBaseThrustersTpl< _Scalar >, ActuationModelNumDiffTpl< _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 \(\mathbf{x}\in\mathbb{R}^{ndx}\)

◆ commands()

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

pure virtual

Compute the joint torque input from the generalized torques.

It stores the results in ActuationDataAbstractTpl::u.

Parameters

[in]	data	Actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	tau	Generalized torques \(\mathbf{u}\in\mathbb{R}^{nv}\)

Implemented in ActuationModelMultiCopterBaseTpl< _Scalar >, ActuationModelFullTpl< _Scalar >, ActuationModelFloatingBaseTpl< _Scalar >, ActuationModelFloatingBaseThrustersTpl< _Scalar >, ActuationModelNumDiffTpl< _Scalar >, and ActuationSquashingModelTpl< _Scalar >.

◆ torqueTransform()

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

virtual

Compute the torque transform from generalized torques to joint torque inputs.

It stores the results in ActuationDataAbstractTpl::Mtau.

Parameters

[in]	data	Actuation data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	tau	Joint-torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented in ActuationModelMultiCopterBaseTpl< _Scalar >, ActuationModelFullTpl< _Scalar >, ActuationModelFloatingBaseTpl< _Scalar >, ActuationModelFloatingBaseThrustersTpl< _Scalar >, and ActuationModelNumDiffTpl< _Scalar >.

◆ createData()

virtual boost::shared_ptr<ActuationDataAbstract> createData ( )

virtual

Create the actuation data.

Returns: the actuation data

Reimplemented in ActuationModelMultiCopterBaseTpl< _Scalar >, ActuationModelFullTpl< _Scalar >, ActuationModelFloatingBaseTpl< _Scalar >, ActuationModelFloatingBaseThrustersTpl< _Scalar >, ActuationModelNumDiffTpl< _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

Reimplemented in ActuationModelFloatingBaseThrustersTpl< _Scalar >.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/actuation-base.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Friends

Detailed Description

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

Constructor & Destructor Documentation

◆ ActuationModelAbstractTpl()

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ commands()

◆ torqueTransform()

◆ createData()

◆ print()

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