ActuationModelFullTpl< _Scalar > Class Template Reference

Full actuation model. More...

#include <crocoddyl/multibody/actuations/full.hpp>

Inheritance diagram for ActuationModelFullTpl< _Scalar >:

Collaboration 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 (boost::shared_ptr< StateAbstract > state)
	Initialize the full actuation model. More...
virtual void	calc (const boost::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &u)
	Compute the full actuation. More...
virtual void	calcDiff (const boost::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &)
	Compute the Jacobians of the full actuation model. More...
virtual boost::shared_ptr< Data >	createData ()
	Create the full actuation data. More...
Public Member Functions inherited from ActuationModelAbstractTpl< _Scalar >
	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...
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...
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...

Protected Attributes
std::size_t	nu_
	Control dimension.
boost::shared_ptr< StateAbstract >	state_
	Model of the state.
Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t	nu_
	Control dimension.
boost::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 28 of file full.hpp.

Constructor & Destructor Documentation

ActuationModelFullTpl()

ActuationModelFullTpl ( boost::shared_ptr< StateAbstract >  state )

inlineexplicit

Initialize the full actuation model.

Parameters

[in]

state

State of the dynamical system

Definition at line 43 of file full.hpp.

Member Function Documentation

calc()

virtual void calc ( const boost::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	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 53 of file full.hpp.

calcDiff()

virtual void calcDiff ( const boost::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	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 70 of file full.hpp.

createData()

virtual boost::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 88 of file full.hpp.

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

• include/crocoddyl/multibody/actuations/full.hpp