Full actuation model. More...

#include <full.hpp>

Inheritance diagram for ActuationModelFullTpl< _Scalar >:

Public Types
typedef ActuationModelAbstractTpl< Scalar >	Base

typedef ActuationDataAbstractTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef _Scalar	Scalar

typedef StateAbstractTpl< Scalar >	StateAbstract

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
	ActuationModelFullTpl (std::shared_ptr< StateAbstract > state)
	Initialize the full actuation model.

virtual void	calc (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &u)
	Compute the full actuation.

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

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 full 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::ActuationModelFullTpl< _Scalar >

Full actuation model.

This actuation model applies input controls for all the nv dimensions of the system.

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

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

Definition at line 30 of file full.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

typedef _Scalar Scalar

Definition at line 32 of file full.hpp.

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 33 of file full.hpp.

◆ Base

template<typename _Scalar >

typedef ActuationModelAbstractTpl<Scalar> Base

Definition at line 34 of file full.hpp.

◆ Data

template<typename _Scalar >

typedef ActuationDataAbstractTpl<Scalar> Data

Definition at line 35 of file full.hpp.

◆ StateAbstract

template<typename _Scalar >

typedef StateAbstractTpl<Scalar> StateAbstract

Definition at line 36 of file full.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 37 of file full.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 38 of file full.hpp.

Constructor & Destructor Documentation

◆ ActuationModelFullTpl()

template<typename _Scalar >

ActuationModelFullTpl ( std::shared_ptr< StateAbstract > state )

inlineexplicit

Initialize the full actuation model.

Parameters

[in] state State of the dynamical system

Definition at line 45 of file full.hpp.

◆ ~ActuationModelFullTpl()

template<typename _Scalar >

virtual ~ActuationModelFullTpl ( )

inlinevirtual

Definition at line 47 of file full.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 full actuation.

Parameters

[in]	data	Full 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 56 of file full.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 full actuation model.

Parameters

[in]	data	Full 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 75 of file full.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 90 of file full.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 102 of file full.hpp.

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< Data > createData ( )

inlinevirtual

Create the full actuation data.

Parameters

[in] data shared data (it should be of type DataCollectorContactTpl)

Returns: the cost data.

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 121 of file full.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/full.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ MathBase

◆ Base

◆ Data

◆ StateAbstract

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ActuationModelFullTpl()

◆ ~ActuationModelFullTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ commands()

◆ torqueTransform()

◆ createData()

Member Data Documentation

◆ nu_

◆ state_