Actuation models for floating base systems actuated with thrusters. More...

#include <floating-base-thrusters.hpp>

Inheritance diagram for ActuationModelFloatingBaseThrustersTpl< _Scalar >:

Public Types
typedef ActuationModelAbstractTpl< Scalar >	Base

typedef ActuationDataAbstractTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef _Scalar	Scalar

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef ThrusterTpl< Scalar >	Thruster

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ActuationModelAbstractTpl< _Scalar >
typedef ActuationDataAbstractTpl< Scalar >	ActuationDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ActuationModelFloatingBaseThrustersTpl (std::shared_ptr< StateMultibody > state, const std::vector< Thruster > &thrusters)
	Initialize the floating base actuation model equipped with thrusters.

virtual void	calc (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &u)
	Compute the actuation signal and actuation set from its thrust and joint torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\).

virtual void	calcDiff (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &)
	Compute the Jacobians of the floating base thruster actuation function.

virtual void	commands (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &tau)
	Compute the joint torque input from the generalized torques.

virtual std::shared_ptr< Data >	createData ()
	Create the floating base thruster actuation data.

std::size_t	get_nthrusters () const
	Return the number of thrusters.

const MatrixXs &	get_S () const

const std::vector< Thruster > &	get_thrusters () const
	Return the vector of thrusters.

const MatrixXs &	get_Wthrust () const

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

void	set_thrusters (const std::vector< Thruster > &thrusters)
	Modify the vector of thrusters.

virtual void	torqueTransform (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &)
	Compute the torque transform from generalized torques to joint torque inputs.

Public Member Functions inherited from ActuationModelAbstractTpl< _Scalar >
	ActuationModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nu)
	Initialize the actuation model.

void	calc (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Ignore the computation of the actuation signal.

void	calcDiff (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Ignore the computation of the Jacobians of the actuation function.

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

const std::shared_ptr< StateAbstract > &	get_state () const
	Return the state.

Protected Attributes
MatrixXs	Mtau_

std::size_t	n_thrusters_
	Number of thrusters.

std::size_t	nu_
	Dimension of joint torque inputs.

MatrixXs	S_
	Selection matrix for under-actuation part.

std::shared_ptr< StateAbstract >	state_
	Model of the state.

std::vector< Thruster >	thrusters_
	Vector of thrusters.

bool	update_data_

MatrixXs	W_thrust_
	Matrix from thrusters thrusts to body wrench.

Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t	nu_
	Dimension of joint torque inputs.

std::shared_ptr< StateAbstract >	state_
	Model of the state.

Additional Inherited Members
Public Attributes inherited from ActuationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Detailed Description

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

Actuation models for floating base systems actuated with thrusters.

This actuation model models floating base robots equipped with thrusters, e.g., multicopters or marine robots equipped with manipulators. It control inputs are the thrusters' thrust (i.e., forces) and joint torques.

Both actuation and Jacobians are computed analytically by calc and calcDiff, respectively.

We assume the robot velocity to zero for easily related square thruster velocities with thrust and torque generated. This approach is similarly implemented in M. Geisert and N. Mansard, "Trajectory generation for quadrotor based systems using numerical optimal control", (ICRA). See Section III.C.

See also: ActuationModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 132 of file floating-base-thrusters.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

typedef _Scalar Scalar

Definition at line 135 of file floating-base-thrusters.hpp.

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 136 of file floating-base-thrusters.hpp.

◆ Base

template<typename _Scalar >

typedef ActuationModelAbstractTpl<Scalar> Base

Definition at line 137 of file floating-base-thrusters.hpp.

◆ Data

template<typename _Scalar >

typedef ActuationDataAbstractTpl<Scalar> Data

Definition at line 138 of file floating-base-thrusters.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 139 of file floating-base-thrusters.hpp.

◆ Thruster

template<typename _Scalar >

typedef ThrusterTpl<Scalar> Thruster

Definition at line 140 of file floating-base-thrusters.hpp.

◆ Vector3s

template<typename _Scalar >

typedef MathBase::Vector3s Vector3s

Definition at line 141 of file floating-base-thrusters.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 142 of file floating-base-thrusters.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 143 of file floating-base-thrusters.hpp.

Constructor & Destructor Documentation

◆ ActuationModelFloatingBaseThrustersTpl()

template<typename _Scalar >

ActuationModelFloatingBaseThrustersTpl	(	std::shared_ptr< StateMultibody >	state,
		const std::vector< Thruster > &	thrusters
	)

inline

Initialize the floating base actuation model equipped with thrusters.

Parameters

[in]	state	State of the dynamical system
[in]	thrusters	Vector of thrusters

Definition at line 152 of file floating-base-thrusters.hpp.

◆ ~ActuationModelFloatingBaseThrustersTpl()

template<typename _Scalar >

virtual ~ActuationModelFloatingBaseThrustersTpl ( )

inlinevirtual

Definition at line 182 of file floating-base-thrusters.hpp.

Member Function Documentation

◆ calc()

template<typename _Scalar >

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

inlinevirtual

Compute the actuation signal and actuation set from its thrust and joint torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\).

Parameters

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

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 192 of file floating-base-thrusters.hpp.

◆ calcDiff()

template<typename _Scalar >

virtual void calcDiff	(	const std::shared_ptr< Data > &	data,
		const Eigen::Ref< const VectorXs > &	,
		const Eigen::Ref< const VectorXs > &
	)

inlinevirtual

Compute the Jacobians of the floating base thruster actuation function.

Parameters

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

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 215 of file floating-base-thrusters.hpp.

◆ commands()

template<typename _Scalar >

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

inlinevirtual

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 \(\mathbf{u}\in\mathbb{R}^{nv}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 228 of file floating-base-thrusters.hpp.

◆ torqueTransform()

template<typename _Scalar >

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

inlinevirtual

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 from ActuationModelAbstractTpl< _Scalar >.

Definition at line 235 of file floating-base-thrusters.hpp.

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< Data > createData ( )

inlinevirtual

Create the floating base thruster actuation data.

Returns: the actuation data

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 252 of file floating-base-thrusters.hpp.

◆ get_thrusters()

template<typename _Scalar >

const std::vector< Thruster > & get_thrusters ( ) const

inline

Return the vector of thrusters.

Definition at line 262 of file floating-base-thrusters.hpp.

◆ get_nthrusters()

template<typename _Scalar >

std::size_t get_nthrusters ( ) const

inline

Return the number of thrusters.

Definition at line 267 of file floating-base-thrusters.hpp.

◆ set_thrusters()

template<typename _Scalar >

void set_thrusters ( const std::vector< Thruster > & thrusters )

inline

Modify the vector of thrusters.

Since we don't want to allocate data, we request to pass the same number of thrusters.

Parameters

[in] thrusters Vector of thrusters

Definition at line 277 of file floating-base-thrusters.hpp.

◆ get_Wthrust()

template<typename _Scalar >

const MatrixXs & get_Wthrust ( ) const

inline

Definition at line 307 of file floating-base-thrusters.hpp.

◆ get_S()

template<typename _Scalar >

const MatrixXs & get_S ( ) const

inline

Definition at line 309 of file floating-base-thrusters.hpp.

◆ print()

template<typename _Scalar >

void print ( std::ostream & os ) const

inlinevirtual

Print relevant information of the residual model.

Parameters

[out] os Output stream object

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 311 of file floating-base-thrusters.hpp.

Member Data Documentation

◆ thrusters_

template<typename _Scalar >

std::vector<Thruster> thrusters_

protected

Vector of thrusters.

Definition at line 321 of file floating-base-thrusters.hpp.

◆ n_thrusters_

template<typename _Scalar >

std::size_t n_thrusters_

protected

Number of thrusters.

Definition at line 322 of file floating-base-thrusters.hpp.

◆ W_thrust_

template<typename _Scalar >

MatrixXs W_thrust_

protected

Matrix from thrusters thrusts to body wrench.

Definition at line 323 of file floating-base-thrusters.hpp.

◆ Mtau_

template<typename _Scalar >

MatrixXs Mtau_

protected

Constaint torque transform from generalized torques to joint torque inputs

Definition at line 324 of file floating-base-thrusters.hpp.

◆ S_

template<typename _Scalar >

MatrixXs S_

protected

Selection matrix for under-actuation part.

Definition at line 326 of file floating-base-thrusters.hpp.

◆ update_data_

template<typename _Scalar >

bool update_data_

protected

Definition at line 328 of file floating-base-thrusters.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Dimension of joint torque inputs.

Definition at line 172 of file actuation-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateAbstract> state_

protected

Model of the state.

Definition at line 173 of file actuation-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ MathBase

◆ Base

◆ Data

◆ StateMultibody

◆ Thruster

◆ Vector3s

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ActuationModelFloatingBaseThrustersTpl()

◆ ~ActuationModelFloatingBaseThrustersTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ commands()

◆ torqueTransform()

◆ createData()

◆ get_thrusters()

◆ get_nthrusters()

◆ set_thrusters()

◆ get_Wthrust()

◆ get_S()

◆ print()

Member Data Documentation

◆ thrusters_

◆ n_thrusters_

◆ W_thrust_

◆ Mtau_

◆ S_

◆ update_data_

◆ nu_

◆ state_