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 |
![]() | |
typedef ActuationDataAbstractTpl< Scalar > | ActuationDataAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef StateAbstractTpl< Scalar > | StateAbstract |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
ActuationSquashingModelTpl (boost::shared_ptr< ActuationModelAbstract > actuation, boost::shared_ptr< SquashingModelAbstract > squashing, const std::size_t nu) | |
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, const Eigen::Ref< const VectorXs > &u) |
Compute the Jacobians of the actuation function. More... | |
boost::shared_ptr< ActuationDataAbstract > | createData () |
Create the actuation data. More... | |
const boost::shared_ptr< ActuationModelAbstract > & | get_actuation () const |
const boost::shared_ptr< SquashingModelAbstract > & | get_squashing () const |
![]() | |
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... | |
Public Attributes | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
![]() | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Attributes | |
boost::shared_ptr< ActuationModelAbstract > | actuation_ |
boost::shared_ptr< SquashingModelAbstract > | squashing_ |
![]() | |
std::size_t | nu_ |
Control dimension. | |
boost::shared_ptr< StateAbstract > | state_ |
Model of the state. | |
Definition at line 19 of file actuation-squashing.hpp.
|
inlinevirtual |
Compute the actuation signal from the state point \(\mathbf{x}\in\mathbb{R}^{ndx}\) and control input \(\mathbf{u}\in\mathbb{R}^{nu}\).
[in] | data | 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 39 of file actuation-squashing.hpp.
|
inlinevirtual |
Compute the Jacobians of the actuation function.
[in] | data | 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 48 of file actuation-squashing.hpp.
|
inlinevirtual |
Create the actuation data.
Reimplemented from ActuationModelAbstractTpl< _Scalar >.
Definition at line 57 of file actuation-squashing.hpp.