Residual-based cost. More...

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

Inheritance diagram for CostModelResidualTpl< _Scalar >:

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Collaboration diagram for CostModelResidualTpl< _Scalar >:

Public Types
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
	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 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 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::CostModelResidualTpl< _Scalar >

Residual-based cost.

This cost function uses a residual model to compute the cost, i.e.,

\[ cost = a(\mathbf{r}(\mathbf{x}, \mathbf{u})), \]

where \(\mathbf{r}(\cdot)\) and \(a(\cdot)\) define the residual and activation functions, respectively.

Note that we only compute the Jacobians of the residual function. Therefore, this cost model computes its Hessians through a Gauss-Newton approximation, e.g., \(\mathbf{l_{xu}} = \mathbf{R_x}^T \mathbf{A_{rr}} \mathbf{R_u} \), where \(\mathbf{R_x}\) and \(\mathbf{R_u}\) are the Jacobians of the residual function, and \(\mathbf{A_{rr}}\) is the Hessian of the activation model.

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

See also: CostModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 36 of file residual.hpp.

Constructor & Destructor Documentation

◆ CostModelResidualTpl() [1/2]

CostModelResidualTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		boost::shared_ptr< ActivationModelAbstract >	activation,
		boost::shared_ptr< ResidualModelAbstract >	residual
	)

Initialize the residual cost model.

Parameters

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

◆ CostModelResidualTpl() [2/2]

CostModelResidualTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		boost::shared_ptr< ResidualModelAbstract >	residual
	)

Initialize the residual 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]	residual	Residual model

Member Function Documentation

◆ calc() [1/2]

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

virtual

Compute the residual cost.

Parameters

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

Implements CostModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

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

virtual

Compute the residual cost based on state only.

It updates the total cost based on the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Residual cost data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from CostModelAbstractTpl< _Scalar >.

◆ calcDiff() [1/2]

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 residual cost.

Parameters

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

Implements CostModelAbstractTpl< _Scalar >.

Reimplemented in CostModelStateTpl< _Scalar >, and CostModelControlTpl< _Scalar >.

◆ calcDiff() [2/2]

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

virtual

Compute the derivatives of the residual cost with respect to the state only.

It updates the Jacobian and Hessian of the cost function based on the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Residual cost data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from CostModelAbstractTpl< _Scalar >.

◆ print()

virtual void print ( std::ostream & os ) const

virtual

Print relevant information of the cost-residual model.

Parameters

[out] os Output stream object

Reimplemented from CostModelAbstractTpl< _Scalar >.

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

include/crocoddyl/core/costs/residual.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

◆ CostModelResidualTpl() [1/2]

◆ CostModelResidualTpl() [2/2]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ print()

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