Crocoddyl
Public Types | Public Member Functions | Public Attributes | Protected Attributes | List of all members
ActuationSquashingModelTpl< _Scalar > Class Template Reference
Inheritance diagram for ActuationSquashingModelTpl< _Scalar >:
ActuationModelAbstractTpl< _Scalar >

Public Types

typedef ActuationDataAbstractTpl< Scalar > ActuationDataAbstract
 
typedef ActuationModelAbstractTpl< Scalar > ActuationModelAbstract
 
typedef ActuationModelAbstractTpl< Scalar > Base
 
typedef ActuationSquashingDataTpl< Scalar > Data
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef MathBase::MatrixXs MatrixXs
 
typedef SquashingModelAbstractTpl< Scalar > SquashingModelAbstract
 
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

 ActuationSquashingModelTpl (std::shared_ptr< ActuationModelAbstract > actuation, std::shared_ptr< SquashingModelAbstract > squashing, const std::size_t nu)
 
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 \(\mathbf{u}\in\mathbb{R}^{nu}\). More...
 
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. More...
 
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. More...
 
std::shared_ptr< ActuationDataAbstract > createData ()
 Create the actuation data. More...
 
const std::shared_ptr< ActuationModelAbstract > & get_actuation () const
 
const std::shared_ptr< SquashingModelAbstract > & get_squashing () const
 
- Public Member Functions inherited from ActuationModelAbstractTpl< _Scalar >
 ActuationModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nu)
 Initialize the actuation model. More...
 
void calc (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
 Ignore the computation of the actuation signal. More...
 
void calcDiff (const std::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 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. More...
 
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. More...
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
- Public Attributes inherited from ActuationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Attributes

std::shared_ptr< ActuationModelAbstract > actuation_
 
std::shared_ptr< SquashingModelAbstract > squashing_
 
- Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t nu_
 Dimension of joint torque inputs.
 
std::shared_ptr< StateAbstract > state_
 Model of the state.
 

Detailed Description

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

Definition at line 19 of file actuation-squashing.hpp.

Member Function Documentation

◆ calc()

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

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]dataActuation data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uJoint-torque input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 42 of file actuation-squashing.hpp.

◆ calcDiff()

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

Compute the Jacobians of the actuation function.

Parameters
[in]dataActuation data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uJoint-torque input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 53 of file actuation-squashing.hpp.

◆ commands()

virtual void commands ( const std::shared_ptr< ActuationDataAbstract > &  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]dataActuation data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]tauGeneralized torques \(\mathbf{u}\in\mathbb{R}^{nv}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 63 of file actuation-squashing.hpp.

◆ createData()

std::shared_ptr<ActuationDataAbstract> createData ( )
inlinevirtual

Create the actuation data.

Returns
the actuation data

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 75 of file actuation-squashing.hpp.

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