Control cost. More...

#include <crocoddyl/core/costs/control.hpp>

Inheritance diagram for CostModelControlTpl< _Scalar >:

Collaboration diagram for CostModelControlTpl< _Scalar >:

Public Types
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract

typedef CostModelResidualTpl< Scalar >	Base

typedef MathBaseTpl< Scalar >	MathBase

typedef ResidualModelControlTpl< Scalar >	ResidualModelControl

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
	CostModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state)
	Initialize the control cost model. More...

	CostModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation)
	Initialize the control cost model. More...

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

	CostModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, boost::shared_ptr< ActivationModelAbstract > activation, const VectorXs &uref)
	Initialize the control cost model. More...

	CostModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu)
	Initialize the control cost model. More...

	CostModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &uref)
	Initialize the control cost model. 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 control cost. 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 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)
	Return the state control.

virtual void	set_referenceImpl (const std::type_info &ti, const void *pv)
	Modify the control reference.

Additional Inherited Members
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::CostModelControlTpl< _Scalar >

Control cost.

This cost function defines a residual vector as \(\mathbf{r}=\mathbf{u}-\mathbf{u}^*\), where \(\mathbf{u},\mathbf{u}^*\in~\mathbb{R}^{nu}\) are the current and reference control inputs, respectively. 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 35 of file control.hpp.

Constructor & Destructor Documentation

◆ CostModelControlTpl() [1/6]

CostModelControlTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		boost::shared_ptr< ActivationModelAbstract >	activation,
		const VectorXs &	uref
	)

Initialize the control cost model.

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

Parameters

[in]	state	State of the multibody system
[in]	activation	Activation model
[in]	uref	Reference control input

◆ CostModelControlTpl() [2/6]

CostModelControlTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		boost::shared_ptr< ActivationModelAbstract >	activation
	)

Initialize the control cost model.

The default reference control is obtained from MathBaseTpl<>::VectorXs::Zero(nu) with nu obtained by ActivationAbstractTpl::get_nr().

Parameters

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

◆ CostModelControlTpl() [3/6]

CostModelControlTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		boost::shared_ptr< ActivationModelAbstract >	activation,
		const std::size_t	nu
	)

Initialize the control cost model.

The default reference control is obtained from MathBaseTpl<>::VectorXs::Zero(nu).

Parameters

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

◆ CostModelControlTpl() [4/6]

CostModelControlTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		const VectorXs &	uref
	)

Initialize the control cost model.

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

Parameters

[in]	state	State of the multibody system
[in]	uref	Reference control input

◆ CostModelControlTpl() [5/6]

CostModelControlTpl ( boost::shared_ptr< typename Base::StateAbstract > state )

explicit

Initialize the control cost model.

We use ActivationModelQuadTpl as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)). The default reference control is obtained from MathBaseTpl<>::VectorXs::Zero(nu) with nu defined by StateAbstractTpl::get_nv().

Parameters

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

◆ CostModelControlTpl() [6/6]

CostModelControlTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		const std::size_t	nu
	)

Initialize the control cost model.

We use ActivationModelQuadTpl as a default activation model (i.e. \(a=\frac{1}{2}\|\mathbf{r}\|^2\)). The default reference control is obtained from MathBaseTpl<>::VectorXs::Zero(nu).

Parameters

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

Member Function Documentation

◆ calcDiff()

virtual void calcDiff	(	const boost::shared_ptr< CostDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

virtual

Compute the derivatives of the control cost.

Parameters

[in]	data	Control cost data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented from CostModelResidualTpl< _Scalar >.

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

include/crocoddyl/core/costs/control.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

◆ CostModelControlTpl() [1/6]

◆ CostModelControlTpl() [2/6]

◆ CostModelControlTpl() [3/6]

◆ CostModelControlTpl() [4/6]

◆ CostModelControlTpl() [5/6]

◆ CostModelControlTpl() [6/6]

Member Function Documentation

◆ calcDiff()

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