This class computes the numerical differentiation of an actuation model. More...

#include <actuation.hpp>

Inheritance diagram for ActuationModelNumDiffTpl< _Scalar >:

Public Types
typedef ActuationDataAbstractTpl< Scalar >	ActuationDataAbstract

typedef ActuationModelAbstractTpl< Scalar >	Base

typedef ActuationDataNumDiffTpl< Scalar >	Data

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef _Scalar	Scalar

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
	ActuationModelNumDiffTpl (std::shared_ptr< Base > model)
	Initialize the numdiff residual model.

virtual	~ActuationModelNumDiffTpl ()
	Destroy the numdiff actuation model.

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

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

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

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

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

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

const Scalar	get_disturbance () const
	Return the disturbance constant used by the numerical differentiation routine.

const std::shared_ptr< Base > &	get_model () const
	Return the original actuation model.

void	set_disturbance (const Scalar disturbance)
	Modify the disturbance constant used by the numerical differentiation routine.

virtual void	torqueTransform (const std::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.

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.

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::ActuationModelNumDiffTpl< _Scalar >

This class computes the numerical differentiation of an actuation model.

It computes the Jacobian of the residual model via numerical differentiation, i.e., \(\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{x}}\) and \(\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{u}}\) which denote the Jacobians of the actuation function \(\boldsymbol{\tau}(\mathbf{x},\mathbf{u})\).

See also: ActuationModelAbstractTpl(), calcDiff()

Definition at line 34 of file actuation.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

typedef _Scalar Scalar

Definition at line 36 of file actuation.hpp.

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 37 of file actuation.hpp.

◆ Base

template<typename _Scalar >

typedef ActuationModelAbstractTpl<Scalar> Base

Definition at line 38 of file actuation.hpp.

◆ Data

template<typename _Scalar >

typedef ActuationDataNumDiffTpl<Scalar> Data

Definition at line 39 of file actuation.hpp.

◆ ActuationDataAbstract

template<typename _Scalar >

typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract

Definition at line 40 of file actuation.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 41 of file actuation.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 42 of file actuation.hpp.

Constructor & Destructor Documentation

◆ ActuationModelNumDiffTpl()

template<typename _Scalar >

ActuationModelNumDiffTpl ( std::shared_ptr< Base > model )

explicit

Initialize the numdiff residual model.

Parameters

model Actuation model that we want to apply the numerical differentiation

Member Function Documentation

◆ calc() [1/2]

template<typename _Scalar >

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

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

Implements ActuationModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

template<typename _Scalar >

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

virtual

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]

template<typename _Scalar >

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

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

Implements ActuationModelAbstractTpl< _Scalar >.

◆ calcDiff() [2/2]

template<typename _Scalar >

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

virtual

◆ commands()

template<typename _Scalar >

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

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

Implements ActuationModelAbstractTpl< _Scalar >.

◆ torqueTransform()

template<typename _Scalar >

virtual void torqueTransform	(	const std::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 from ActuationModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< ActuationDataAbstract > createData ( )

virtual

Create the actuation data.

Returns: the actuation data

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

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.

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

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

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ MathBase

◆ Base

◆ Data

◆ ActuationDataAbstract

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ActuationModelNumDiffTpl()

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ commands()

◆ torqueTransform()

◆ createData()

Member Data Documentation

◆ nu_