ActuationModelNumDiffTpl< _Scalar > Class Template Reference

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

#include <crocoddyl/core/numdiff/actuation.hpp>

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 Member Functions
	ActuationModelNumDiffTpl (boost::shared_ptr< Base > model)
	Initialize the numdiff residual model. More...
virtual	~ActuationModelNumDiffTpl ()
	Destroy the numdiff actuation model.
virtual void	calc (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
virtual void	calc (const boost::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 control input \(\mathbf{u}\in\mathbb{R}^{nu}\). More...
virtual void	calcDiff (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
virtual void	calcDiff (const boost::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the Jacobians of the actuation function. More...
virtual boost::shared_ptr< ActuationDataAbstract >	createData ()
	Create the actuation data. More...
const Scalar	get_disturbance () const
	Return the disturbance value used by the numdiff routine.
const boost::shared_ptr< Base > &	get_model () const
	Return the original actuation model.
void	set_disturbance (const Scalar disturbance)
	Modify the disturbance value used by the numdiff routine.

Protected Attributes
std::size_t	nu_
	Control dimension.

Detailed Description

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

This class computes the numerical differentiation of an actuation model.

It computes 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 243 of file fwd.hpp.

Constructor & Destructor Documentation

ActuationModelNumDiffTpl()

ActuationModelNumDiffTpl ( boost::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]

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

Parameters

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

calc() [2/2]

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

virtual

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]

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

calcDiff() [2/2]

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

virtual

createData()

virtual boost::shared_ptr<ActuationDataAbstract> createData ( )

virtual

Create the actuation data.

Returns

the actuation data

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

• include/crocoddyl/core/fwd.hpp
• include/crocoddyl/core/numdiff/actuation.hpp