ActuationSquashingModelTpl< _Scalar > Class Template Reference

Inheritance diagram for ActuationSquashingModelTpl< _Scalar >:

Collaboration diagram for ActuationSquashingModelTpl< _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 (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
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...

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
boost::shared_ptr< ActuationModelAbstract >	actuation_
boost::shared_ptr< SquashingModelAbstract >	squashing_
Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t	nu_
	Control dimension.
boost::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 boost::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 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 \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 39 of file actuation-squashing.hpp.

calcDiff()

virtual void calcDiff ( const boost::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]	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.

createData()

boost::shared_ptr<ActuationDataAbstract> createData ( )

inlinevirtual

Create the actuation data.

Returns

the actuation data

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 57 of file actuation-squashing.hpp.

---

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

• include/crocoddyl/core/actuation/actuation-squashing.hpp