Define a contact impulse cost function. More...

#include <crocoddyl/multibody/costs/contact-impulse.hpp>

Inheritance diagram for CostModelContactImpulseTpl< _Scalar >:

Collaboration diagram for CostModelContactImpulseTpl< _Scalar >:

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Public Types
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract

typedef CostModelResidualTpl< Scalar >	Base

typedef CostDataContactImpulseTpl< Scalar >	Data

typedef FrameForceTpl< Scalar >	FrameForce

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef ResidualModelContactForceTpl< Scalar >	ResidualModelContactForce

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Types inherited from CostModelResidualTpl< _Scalar >
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract

typedef CostModelAbstractTpl< Scalar >	Base

typedef CostDataAbstractTpl< Scalar >	CostDataAbstract

typedef CostDataResidualTpl< Scalar >	Data

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef ResidualModelAbstractTpl< Scalar >	ResidualModelAbstract

typedef MathBase::VectorXs	VectorXs

Public Types inherited from CostModelAbstractTpl< _Scalar >
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract

typedef ActivationModelQuadTpl< Scalar >	ActivationModelQuad

typedef CostDataAbstractTpl< Scalar >	CostDataAbstract

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef ResidualModelAbstractTpl< Scalar >	ResidualModelAbstract

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	CostModelContactImpulseTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameForce &fref)
	Initialize the contact impulse cost model. More...

	CostModelContactImpulseTpl (boost::shared_ptr< StateMultibody > state, const FrameForce &fref)
	Initialize the contact impulse cost model. More...

	CostModelContactImpulseTpl (boost::shared_ptr< StateMultibody > state, const FrameForce &fref, const std::size_t nr)
	Initialize the contact impulse cost model. More...

Public Member Functions inherited from CostModelResidualTpl< _Scalar >
	CostModelResidualTpl (boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, boost::shared_ptr< ResidualModelAbstract > residual)
	Initialize the residual cost model. More...

	CostModelResidualTpl (boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ResidualModelAbstract > residual)
	Initialize the residual cost model. More...

virtual void	calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the residual cost based on state only. More...

virtual void	calc (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the residual cost. More...

virtual void	calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the derivatives of the residual cost with respect to the state only. More...

virtual void	calcDiff (const boost::shared_ptr< CostDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the derivatives of the residual cost. More...

virtual boost::shared_ptr< CostDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the residual cost data.

virtual void	print (std::ostream &os) const
	Print relevant information of the cost-residual model. More...

Public Member Functions inherited from CostModelAbstractTpl< _Scalar >
	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation)
	Initialize the cost model. More...

	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, boost::shared_ptr< ResidualModelAbstract > residual)
	Initialize the cost model. More...

	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu)
	Initialize the cost model. More...

	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ResidualModelAbstract > residual)
	Initialize the cost model. More...

	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr)
	Initialize the cost model. More...

	CostModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu)
	Initialize the cost model. More...

const boost::shared_ptr< ActivationModelAbstract > &	get_activation () const
	Return the activation model.

std::size_t	get_nu () const
	Return the dimension of the control input.

template<class ReferenceType >
ReferenceType	get_reference ()
	Return the cost reference.

const boost::shared_ptr< ResidualModelAbstract > &	get_residual () const
	Return the residual model.

const boost::shared_ptr< StateAbstract > &	get_state () const
	Return the state.

template<class ReferenceType >
void	set_reference (ReferenceType ref)
	Modify the cost reference.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Public Attributes inherited from CostModelResidualTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Public Attributes inherited from CostModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Member Functions
virtual void	get_referenceImpl (const std::type_info &ti, void *pv)
	Modify the reference spatial impulse \(\boldsymbol{\lambda}^*\).

virtual void	set_referenceImpl (const std::type_info &ti, const void *pv)
	Return the reference spatial impulse \(\boldsymbol{\lambda}^*\).

Protected Attributes
boost::shared_ptr< ActivationModelAbstract >	activation_
	Activation model.

FrameForce	fref_
	Reference spatial impulse \(\boldsymbol{\lambda}^*\).

std::size_t	nu_
	Control dimension.

boost::shared_ptr< ResidualModelAbstract >	residual_
	Residual model.

boost::shared_ptr< StateAbstract >	state_
	State description.

VectorXs	unone_
	No control vector.

Protected Attributes inherited from CostModelResidualTpl< _Scalar >
boost::shared_ptr< ActivationModelAbstract >	activation_
	Activation model.

std::size_t	nu_
	Control dimension.

boost::shared_ptr< ResidualModelAbstract >	residual_
	Residual model.

boost::shared_ptr< StateAbstract >	state_
	State description.

VectorXs	unone_
	No control vector.

Protected Attributes inherited from CostModelAbstractTpl< _Scalar >
boost::shared_ptr< ActivationModelAbstract >	activation_
	Activation model.

std::size_t	nu_
	Control dimension.

boost::shared_ptr< ResidualModelAbstract >	residual_
	Residual model.

boost::shared_ptr< StateAbstract >	state_
	State description.

VectorXs	unone_
	No control vector.

Detailed Description

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

Define a contact impulse cost function.

This cost function defines a residual vector \(\mathbf{r}=\boldsymbol{\lambda}-\boldsymbol{\lambda}^*\), where \(\boldsymbol{\lambda}, \boldsymbol{\lambda}^*\) are the current and reference spatial impulses, respectively. The current spatial impulses \(\boldsymbol{\lambda}\in\mathbb{R}^{ni}\)is computed by ActionModelImpulseFwdDynamicsTpl, with ni as the dimension of the impulse.

Both cost and residual derivatives are computed analytically, where th force vector \(\boldsymbol{\lambda}\) and its derivatives \(\left(\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{x}}, \frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{u}}\right)\) are computed by ActionModelImpulseFwdDynamicsTpl. These values are stored in a shared data (i.e. DataCollectorImpulseTpl). Note that this cost function cannot be used with other action models. For the computation of the cost Hessian, we use the Gauss-Newton approximation, e.g. \(\mathbf{l_{xu}} = \mathbf{l_{x}}^T \mathbf{l_{u}} \).

See also: ActionModelImpulseFwdDynamicsTpl, DataCollectorImpulseTpl, ActivationModelAbstractTpl

Definition at line 44 of file contact-impulse.hpp.

Constructor & Destructor Documentation

◆ CostModelContactImpulseTpl() [1/3]

CostModelContactImpulseTpl	(	boost::shared_ptr< StateMultibody >	state,
		boost::shared_ptr< ActivationModelAbstract >	activation,
		const FrameForce &	fref
	)

Initialize the contact impulse cost model.

Note that the nr, defined in the activation model, has to be lower / equals than 6.

Parameters

[in]	state	Multibody state
[in]	activation	Activation model
[in]	fref	Reference spatial contact impulse \(\boldsymbol{\lambda}^*\)

◆ CostModelContactImpulseTpl() [2/3]

CostModelContactImpulseTpl	(	boost::shared_ptr< StateMultibody >	state,
		const FrameForce &	fref,
		const std::size_t	nr
	)

Initialize the contact impulse cost model.

We use ActivationModelQuadTpl as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)). Note that the nr, defined in the activation model, has to be lower / equals than 6.

Parameters

[in]	state	Multibody state
[in]	fref	Reference spatial contact impulse \(\boldsymbol{\lambda}^*\)
[in]	nr	Dimension of residual vector

◆ CostModelContactImpulseTpl() [3/3]

CostModelContactImpulseTpl	(	boost::shared_ptr< StateMultibody >	state,
		const FrameForce &	fref
	)

Initialize the contact impulse cost model.

We use ActivationModelQuadTpl as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)), and nr is 6.

Parameters

[in]	state	Multibody state
[in]	fref	Reference spatial contact impulse \(\boldsymbol{\lambda}^*\)

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

include/crocoddyl/multibody/costs/contact-impulse.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ CostModelContactImpulseTpl() [1/3]

◆ CostModelContactImpulseTpl() [2/3]

◆ CostModelContactImpulseTpl() [3/3]

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