State cost. More...

#include <crocoddyl/multibody/costs/state.hpp>

Inheritance diagram for CostModelStateTpl< _Scalar >:

Collaboration diagram for CostModelStateTpl< _Scalar >:

Public Types
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract

typedef CostModelResidualTpl< Scalar >	Base

typedef CostDataAbstractTpl< Scalar >	CostDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef ResidualModelStateTpl< Scalar >	ResidualModelState

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

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

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

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

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

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

	CostModelStateTpl (boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &xref)
	Initialize the state cost model. More...

	CostModelStateTpl (boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &xref, const std::size_t nu)
	Initialize the state 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 state 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 reference.

virtual void	set_referenceImpl (const std::type_info &ti, const void *pv)
	Modify the state 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::CostModelStateTpl< _Scalar >

State cost.

This cost function defines a residual vector as \(\mathbf{r}=\mathbf{x}\ominus\mathbf{x}^*\), where \(\mathbf{x},\mathbf{x}^*\in~\mathcal{X}\) are the current and reference states, respectively, which belong to the state manifold \(\mathcal{X}\). Note that the dimension of the residual vector is obtained from StateAbstract::get_ndx().

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 37 of file state.hpp.

Constructor & Destructor Documentation

◆ CostModelStateTpl() [1/8]

CostModelStateTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		boost::shared_ptr< ActivationModelAbstract >	activation,
		const VectorXs &	xref,
		const std::size_t	nu
	)

Initialize the state cost model.

Parameters

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

◆ CostModelStateTpl() [2/8]

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

Initialize the state 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]	xref	Reference state

◆ CostModelStateTpl() [3/8]

CostModelStateTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		const VectorXs &	xref,
		const std::size_t	nu
	)

Initialize the state 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]	xref	Reference state
[in]	nu	Dimension of the control vector

◆ CostModelStateTpl() [4/8]

CostModelStateTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		const VectorXs &	xref
	)

Initialize the state 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]	xref	Reference state

◆ CostModelStateTpl() [5/8]

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

Initialize the state cost model.

The default reference state is obtained from StateAbstractTpl::zero().

Parameters

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

◆ CostModelStateTpl() [6/8]

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

Initialize the state cost model.

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

Parameters

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

◆ CostModelStateTpl() [7/8]

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

Initialize the state cost model.

The default state reference is obtained from StateAbstractTpl::zero(), and nu from StateAbstractTpl::get_nv().

Parameters

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

◆ CostModelStateTpl() [8/8]

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

explicit

Initialize the state cost model.

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

Parameters

[in] state State of the multibody system

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 state cost.

Parameters

[in]	data	State 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/multibody/costs/state.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ CostModelStateTpl() [1/8]

◆ CostModelStateTpl() [2/8]

◆ CostModelStateTpl() [3/8]

◆ CostModelStateTpl() [4/8]

◆ CostModelStateTpl() [5/8]

◆ CostModelStateTpl() [6/8]

◆ CostModelStateTpl() [7/8]

◆ CostModelStateTpl() [8/8]

Member Function Documentation

◆ calcDiff()

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