Frame velocity cost. More...

#include <crocoddyl/multibody/costs/frame-velocity.hpp>

Inheritance diagram for CostModelFrameVelocityTpl< _Scalar >:

Collaboration diagram for CostModelFrameVelocityTpl< _Scalar >:

Public Types
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract

typedef CostModelResidualTpl< Scalar >	Base

typedef CostDataFrameVelocityTpl< Scalar >	Data

typedef FrameMotionTpl< Scalar >	FrameMotion

typedef MathBaseTpl< Scalar >	MathBase

typedef ResidualModelFrameVelocityTpl< Scalar >	ResidualModelFrameVelocity

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
	CostModelFrameVelocityTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameMotion &Fref)
	Initialize the frame velocity cost model. More...

	CostModelFrameVelocityTpl (boost::shared_ptr< StateMultibody > state, boost::shared_ptr< ActivationModelAbstract > activation, const FrameMotion &Fref, const std::size_t nu)
	Initialize the frame velocity cost model. More...

	CostModelFrameVelocityTpl (boost::shared_ptr< StateMultibody > state, const FrameMotion &Fref)
	Initialize the frame velocity cost model. More...

	CostModelFrameVelocityTpl (boost::shared_ptr< StateMultibody > state, const FrameMotion &Fref, const std::size_t nu)
	Initialize the frame velocity 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)
	Return the frame velocity reference.

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

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.

Detailed Description

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

Frame velocity cost.

This cost function defines a residual vector as \(\mathbf{r}=\mathbf{v}-\mathbf{v}^*\), where \(\mathbf{v},\mathbf{v}^*\in~T_{\mathbf{p}}~\mathbb{SE(3)}\) are the current and reference frame velocities, respectively. Note that the tangent vector is described by the frame placement \(\mathbf{p}\), and the dimension of the residual vector is 6.

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

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 43 of file frame-velocity.hpp.

Constructor & Destructor Documentation

◆ CostModelFrameVelocityTpl() [1/4]

CostModelFrameVelocityTpl	(	boost::shared_ptr< StateMultibody >	state,
		boost::shared_ptr< ActivationModelAbstract >	activation,
		const FrameMotion &	Fref,
		const std::size_t	nu
	)

Initialize the frame velocity cost model.

Parameters

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

◆ CostModelFrameVelocityTpl() [2/4]

CostModelFrameVelocityTpl	(	boost::shared_ptr< StateMultibody >	state,
		boost::shared_ptr< ActivationModelAbstract >	activation,
		const FrameMotion &	Fref
	)

Initialize the frame velocity 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]	Fref	Reference frame velocity

◆ CostModelFrameVelocityTpl() [3/4]

CostModelFrameVelocityTpl	(	boost::shared_ptr< StateMultibody >	state,
		const FrameMotion &	Fref,
		const std::size_t	nu
	)

Initialize the frame velocity 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]	Fref	Reference frame velocity
[in]	nu	Dimension of the control vector

◆ CostModelFrameVelocityTpl() [4/4]

CostModelFrameVelocityTpl	(	boost::shared_ptr< StateMultibody >	state,
		const FrameMotion &	Fref
	)

Initialize the frame velocity cost model.

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

Parameters

[in]	state	State of the multibody system
[in]	Fref	Reference frame velocity

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

include/crocoddyl/multibody/costs/frame-velocity.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ CostModelFrameVelocityTpl() [1/4]

◆ CostModelFrameVelocityTpl() [2/4]

◆ CostModelFrameVelocityTpl() [3/4]

◆ CostModelFrameVelocityTpl() [4/4]

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