Floating-base actuation model. More...

#include <floating-base.hpp>

Inheritance diagram for ActuationModelFloatingBaseTpl< _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 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
	ActuationModelFloatingBaseTpl (std::shared_ptr< StateMultibody > state)
	Initialize the floating-base actuation model.

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

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 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 actuation data.

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.

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

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

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

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::ActuationModelFloatingBaseTpl< _Scalar >

Floating-base actuation model.

It considers the first joint, defined in the Pinocchio model, as the floating-base joints. Then, this joint (that might have various DoFs) is unactuated.

The main computations are carrying out in calc, and calcDiff, where the former computes actuation signal \(\mathbf{a}\) from a given joint-torque input \(\mathbf{u}\) and state point \(\mathbf{x}\), and the latter computes the Jacobians of the actuation-mapping function. Note that calcDiff requires to run calc first.

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

Definition at line 36 of file floating-base.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

typedef _Scalar Scalar

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

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 40 of file floating-base.hpp.

◆ Base

template<typename _Scalar >

typedef ActuationModelAbstractTpl<Scalar> Base

Definition at line 41 of file floating-base.hpp.

◆ Data

template<typename _Scalar >

typedef ActuationDataAbstractTpl<Scalar> Data

Definition at line 42 of file floating-base.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 43 of file floating-base.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 44 of file floating-base.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 45 of file floating-base.hpp.

Constructor & Destructor Documentation

◆ ActuationModelFloatingBaseTpl()

template<typename _Scalar >

ActuationModelFloatingBaseTpl ( std::shared_ptr< StateMultibody > state )

inlineexplicit

Initialize the floating-base actuation model.

Parameters

[in]	state	State of a multibody system
[in]	nu	Dimension of joint-torque vector

Definition at line 53 of file floating-base.hpp.

◆ ~ActuationModelFloatingBaseTpl()

template<typename _Scalar >

virtual ~ActuationModelFloatingBaseTpl ( )

inlinevirtual

Definition at line 62 of file floating-base.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 floating-base actuation signal from the joint-torque input \(\mathbf{u}\in\mathbb{R}^{nu}\).

Parameters

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

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 72 of file floating-base.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 actuation function.

Parameters

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

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 91 of file floating-base.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 105 of file floating-base.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 117 of file floating-base.hpp.

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< Data > createData ( )

inlinevirtual

Create the floating-base actuation data.

Returns: the actuation data

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 134 of file floating-base.hpp.

Member Data Documentation

◆ 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.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ MathBase

◆ Base

◆ Data

◆ StateMultibody

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ActuationModelFloatingBaseTpl()

◆ ~ActuationModelFloatingBaseTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ commands()

◆ torqueTransform()

◆ createData()

Member Data Documentation

◆ nu_

◆ state_