CostModelControlGravContactTpl< _Scalar > Class Template Reference

Control gravity cost. More...

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

Inheritance diagram for CostModelControlGravContactTpl< _Scalar >:

Collaboration diagram for CostModelControlGravContactTpl< _Scalar >:

Public Types
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract
typedef ActuationModelAbstractTpl< Scalar >	ActuationModelAbstract
typedef CostModelResidualTpl< Scalar >	Base
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef ResidualModelContactControlGravTpl< Scalar >	ResidualModelContactControlGrav
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
	CostModelControlGravContactTpl (boost::shared_ptr< StateMultibody > state)
	Initialize the control gravity contact cost model. More...
	CostModelControlGravContactTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation)
	Initialize the control gravity contact cost model. More...
	CostModelControlGravContactTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const std::size_t nu)
	Initialize the control gravity contact cost model. More...
	CostModelControlGravContactTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nu)
	Initialize the control gravity contact 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 Attributes
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 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.

Additional Inherited Members
Protected Member Functions inherited from CostModelAbstractTpl< _Scalar >
virtual void	get_referenceImpl (const std::type_info &, void *)
	Return the cost reference.
virtual void	set_referenceImpl (const std::type_info &, const void *)
	Modify the cost reference.

Detailed Description

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

Control gravity cost.

This cost function defines a residual vector as \(\mathbf{r}=\mathbf{u}-(g(q) - \sum \mathbf{J_c}(\mathbf{q})^{\top} f_{\text{ext}})\), where \(\mathbf{u}\in~\mathbb{R}^{nu}\) is the current control input, \(\mathbf{J_c}(\mathbf{q})\) is the contact Jacobians, \(\mathbf{f_c}}\) is the contact forces, \(\mathbf{g}(\mathbf{q})\) is the gravity torque corresponding to the* current configuration, \(\mathbf{q}\in~\mathbb{R}^{nq}\) the current position joints input. Note that the dimension of the residual vector is obtained from nu.

Both cost and residual derivatives are computed analytically. For the computation of the cost Hessian, we use the Gauss-Newton approximation, e.g. \(\mathbf{l_{xx}} = \mathbf{l_{x}}^T \mathbf{l_{x}} \).

As described in CostModelResidualTpl(), the cost value and its derivatives are calculated by calc and calcDiff, respectively.

See also

CostModelResidualTpl, calc(), calcDiff(), createData()

Definition at line 38 of file control-gravity-contact.hpp.

Constructor & Destructor Documentation

CostModelControlGravContactTpl() [1/4]

CostModelControlGravContactTpl	(	boost::shared_ptr< StateMultibody >	state,
		boost::shared_ptr< ActivationModelAbstract >	activation,
		const std::size_t	nu
	)

Initialize the control gravity contact cost model.

Parameters

[in]	state	State of the multibody system
[in]	activation	Activation model
[in]	nu	Dimension of the control vector

CostModelControlGravContactTpl() [2/4]

CostModelControlGravContactTpl	(	boost::shared_ptr< StateMultibody >	state,
		boost::shared_ptr< ActivationModelAbstract >	activation
	)

Initialize the control gravity contact cost model.

The default nu value is obtained from StateAbstractTpl::get_nv().

Parameters

[in]	state	State of the multibody system
[in]	activation	Activation model

CostModelControlGravContactTpl() [3/4]

CostModelControlGravContactTpl	(	boost::shared_ptr< StateMultibody >	state,
		const std::size_t	nu
	)

Initialize the control gravity contact cost model.

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

Parameters

[in]	state	State of the multibody system
[in]	nu	Dimension of the control vector

CostModelControlGravContactTpl() [4/4]

CostModelControlGravContactTpl ( boost::shared_ptr< StateMultibody >  state )

explicit

Initialize the control gravity contact cost model.

The default nu value is obtained from StateAbstractTpl::get_nv(). We use ActivationModelQuadTpl as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)).

Parameters

[in]

state

State of the multibody system

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

• include/crocoddyl/multibody/costs/control-gravity-contact.hpp