Differential action model for contact inverse dynamics in multibody systems. More...

#include <contact-invdyn.hpp>

Inheritance diagram for DifferentialActionModelContactInvDynamicsTpl< _Scalar >:

Classes
class	ResidualModelActuation
	Actuation residual. More...

class	ResidualModelContact
	Contact-acceleration residual. More...

Public Types
typedef ActuationModelAbstractTpl< Scalar >	ActuationModelAbstract

typedef DifferentialActionModelAbstractTpl< Scalar >	Base

typedef ConstraintModelManagerTpl< Scalar >	ConstraintModelManager

typedef ContactItemTpl< Scalar >	ContactItem

typedef ContactModelMultipleTpl< Scalar >	ContactModelMultiple

typedef CostModelSumTpl< Scalar >	CostModelSum

typedef DifferentialActionDataContactInvDynamicsTpl< Scalar >	Data

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef DifferentialActionDataAbstractTpl< Scalar >	DifferentialActionDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Types inherited from DifferentialActionModelAbstractTpl< _Scalar >
typedef DifferentialActionDataAbstractTpl< Scalar >	DifferentialActionDataAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	DifferentialActionModelContactInvDynamicsTpl (std::shared_ptr< StateMultibody > state, std::shared_ptr< ActuationModelAbstract > actuation, std::shared_ptr< ContactModelMultiple > contacts, std::shared_ptr< CostModelSum > costs)
	Initialize the contact inverse-dynamics action model.

	DifferentialActionModelContactInvDynamicsTpl (std::shared_ptr< StateMultibody > state, std::shared_ptr< ActuationModelAbstract > actuation, std::shared_ptr< ContactModelMultiple > contacts, std::shared_ptr< CostModelSum > costs, std::shared_ptr< ConstraintModelManager > constraints)
	Initialize the contact inverse-dynamics action model.

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

virtual void	calc (const std::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the system acceleration, cost value and constraint residuals.

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

virtual void	calcDiff (const std::shared_ptr< DifferentialActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the derivatives of the dynamics, cost and constraint functions.

virtual bool	checkData (const std::shared_ptr< DifferentialActionDataAbstract > &data)
	Checks that a specific data belongs to the contact inverse-dynamics model.

virtual std::shared_ptr< DifferentialActionDataAbstract >	createData ()
	Create the contact inverse-dynamics data.

const std::shared_ptr< ActuationModelAbstract > &	get_actuation () const
	Return the actuation model.

const std::shared_ptr< ConstraintModelManager > &	get_constraints () const
	Return the constraint model manager.

const std::shared_ptr< ContactModelMultiple > &	get_contacts () const
	Return the contact model.

const std::shared_ptr< CostModelSum > &	get_costs () const
	Return the cost model.

virtual const VectorXs &	get_g_lb () const
	Return the lower bound of the inequality constraints.

virtual const VectorXs &	get_g_ub () const
	Return the upper bound of the inequality constraints.

virtual std::size_t	get_ng () const
	Return the number of inequality constraints.

virtual std::size_t	get_ng_T () const
	Return the number of equality terminal constraints.

virtual std::size_t	get_nh () const
	Return the number of equality constraints.

virtual std::size_t	get_nh_T () const
	Return the number of equality terminal constraints.

pinocchio::ModelTpl< Scalar > &	get_pinocchio () const
	Return the Pinocchio model.

virtual void	print (std::ostream &os) const
	Print relevant information of the contact inverse-dynamics model.

virtual void	quasiStatic (const std::shared_ptr< DifferentialActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))
	Computes the quasic static commands.

Public Member Functions inherited from DifferentialActionModelAbstractTpl< _Scalar >
	DifferentialActionModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t nr=0, const std::size_t ng=0, const std::size_t nh=0, const std::size_t ng_T=0, const std::size_t nh_T=0)
	Initialize the differential action model.

bool	get_has_control_limits () const
	Indicates if there are defined control limits.

std::size_t	get_nr () const
	Return the dimension of the cost-residual vector.

std::size_t	get_nu () const
	Return the dimension of the control input.

const std::shared_ptr< StateAbstract > &	get_state () const
	Return the state.

const VectorXs &	get_u_lb () const
	Return the control lower bound.

const VectorXs &	get_u_ub () const
	Return the control upper bound.

VectorXs	quasiStatic_x (const std::shared_ptr< DifferentialActionDataAbstract > &data, const VectorXs &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))

void	set_g_lb (const VectorXs &g_lb)
	Modify the lower bound of the inequality constraints.

void	set_g_ub (const VectorXs &g_ub)
	Modify the upper bound of the inequality constraints.

void	set_u_lb (const VectorXs &u_lb)
	Modify the control lower bounds.

void	set_u_ub (const VectorXs &u_ub)
	Modify the control upper bounds.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Public Attributes inherited from DifferentialActionModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
VectorXs	g_lb_
	Lower bound of the inequality constraints.

VectorXs	g_ub_
	< Lower bound of the inequality constraints

std::size_t	ng_
	< Upper bound of the inequality constraints

std::size_t	nh_
	< Number of inequality constraints

std::size_t	nu_
	< Number of equality constraints

std::shared_ptr< StateAbstract >	state_
	< Control dimension

Protected Attributes inherited from DifferentialActionModelAbstractTpl< _Scalar >
VectorXs	g_lb_
	Lower bound of the inequality constraints.

VectorXs	g_ub_
	Lower bound of the inequality constraints.

bool	has_control_limits_

std::size_t	ng_
	Number of inequality constraints.

std::size_t	ng_T_
	Number of inequality terminal constraints.

std::size_t	nh_
	Number of equality constraints.

std::size_t	nh_T_
	Number of equality terminal constraints.

std::size_t	nr_
	Dimension of the cost residual.

std::size_t	nu_
	Control dimension.

std::shared_ptr< StateAbstract >	state_
	Model of the state.

VectorXs	u_lb_
	Lower control limits.

VectorXs	u_ub_
	Upper control limits.

VectorXs	unone_
	Neutral state.

Additional Inherited Members
Protected Member Functions inherited from DifferentialActionModelAbstractTpl< _Scalar >
void	update_has_control_limits ()
	Update the status of the control limits (i.e. if there are defined limits)

Detailed Description

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

Differential action model for contact inverse dynamics in multibody systems.

This class implements forward kinematic with holonomic contact constraints (defined at the acceleration level) and inverse-dynamics computation using the Recursive Newton Euler Algorithm (RNEA). The stack of cost and constraint functions are implemented in CostModelSumTpl and ConstraintModelManagerTpl, respectively. The acceleration and contact forces are decision variables defined as the control inputs, and the under-actuation and contact constraint are under the name tau and its frame name, thus the user is not allowed to use it.

Additionally, it is important to note that calcDiff() computes the derivatives using the latest stored values by calc(). Thus, we need to first run calc().

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

Definition at line 44 of file contact-invdyn.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar >

typedef DifferentialActionModelAbstractTpl<Scalar> Base

Definition at line 50 of file contact-invdyn.hpp.

◆ Data

template<typename _Scalar >

typedef DifferentialActionDataContactInvDynamicsTpl<Scalar> Data

Definition at line 51 of file contact-invdyn.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 52 of file contact-invdyn.hpp.

◆ ActuationModelAbstract

template<typename _Scalar >

typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract

Definition at line 53 of file contact-invdyn.hpp.

◆ CostModelSum

template<typename _Scalar >

typedef CostModelSumTpl<Scalar> CostModelSum

Definition at line 54 of file contact-invdyn.hpp.

◆ ConstraintModelManager

template<typename _Scalar >

typedef ConstraintModelManagerTpl<Scalar> ConstraintModelManager

Definition at line 55 of file contact-invdyn.hpp.

◆ ContactModelMultiple

template<typename _Scalar >

typedef ContactModelMultipleTpl<Scalar> ContactModelMultiple

Definition at line 56 of file contact-invdyn.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 57 of file contact-invdyn.hpp.

◆ DifferentialActionDataAbstract

template<typename _Scalar >

typedef DifferentialActionDataAbstractTpl<Scalar> DifferentialActionDataAbstract

Definition at line 59 of file contact-invdyn.hpp.

◆ ContactItem

template<typename _Scalar >

typedef ContactItemTpl<Scalar> ContactItem

Definition at line 60 of file contact-invdyn.hpp.

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 61 of file contact-invdyn.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 62 of file contact-invdyn.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 63 of file contact-invdyn.hpp.

Constructor & Destructor Documentation

◆ DifferentialActionModelContactInvDynamicsTpl() [1/2]

template<typename _Scalar >

DifferentialActionModelContactInvDynamicsTpl	(	std::shared_ptr< StateMultibody >	state,
		std::shared_ptr< ActuationModelAbstract >	actuation,
		std::shared_ptr< ContactModelMultiple >	contacts,
		std::shared_ptr< CostModelSum >	costs
	)

Initialize the contact inverse-dynamics action model.

It describes the kinematic evolution of the multibody system with contacts, and computes the needed torques using inverse-dynamics.

Parameters

[in]	state	State of the multibody system
[in]	actuation	Actuation model
[in]	contacts	Multiple contacts
[in]	costs	Cost model

◆ DifferentialActionModelContactInvDynamicsTpl() [2/2]

template<typename _Scalar >

DifferentialActionModelContactInvDynamicsTpl	(	std::shared_ptr< StateMultibody >	state,
		std::shared_ptr< ActuationModelAbstract >	actuation,
		std::shared_ptr< ContactModelMultiple >	contacts,
		std::shared_ptr< CostModelSum >	costs,
		std::shared_ptr< ConstraintModelManager >	constraints
	)

Initialize the contact inverse-dynamics action model.

Parameters

[in]	state	State of the multibody system
[in]	actuation	Actuation model
[in]	contacts	Multiple contacts
[in]	costs	Cost model
[in]	constraints	Constraints model

Member Function Documentation

◆ calc() [1/2]

template<typename _Scalar >

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

virtual

Compute the system acceleration, cost value and constraint residuals.

It extracts the acceleration value from control vector and also computes the cost and constraints.

Parameters

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

Implements DifferentialActionModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

template<typename _Scalar >

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

virtual

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ calcDiff() [1/2]

template<typename _Scalar >

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

virtual

Compute the derivatives of the dynamics, cost and constraint functions.

It computes the partial derivatives of the dynamical system and the cost and contraint functions. It assumes that calc() has been run first. This function builds a quadratic approximation of the time-continuous action model (i.e., dynamical system, cost and constraint functions).

Parameters

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

Implements DifferentialActionModelAbstractTpl< _Scalar >.

◆ calcDiff() [2/2]

template<typename _Scalar >

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

virtual

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< DifferentialActionDataAbstract > createData ( )

virtual

Create the contact inverse-dynamics data.

Returns: contact inverse-dynamics data

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ checkData()

template<typename _Scalar >

virtual bool checkData ( const std::shared_ptr< DifferentialActionDataAbstract > & data )

virtual

Checks that a specific data belongs to the contact inverse-dynamics model.

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ quasiStatic()

template<typename _Scalar >

virtual void quasiStatic	(	const std::shared_ptr< DifferentialActionDataAbstract > &	data,
		Eigen::Ref< VectorXs >	u,
		const Eigen::Ref< const VectorXs > &	x,
		const std::size_t	maxiter = `100`,
		const Scalar	tol = `Scalar(1e-9)`
	)

virtual

Computes the quasic static commands.

The quasic static commands are the ones produced for a reference posture as an equilibrium point with zero acceleration, i.e., for \(\mathbf{f^q_x}\delta\mathbf{q}+\mathbf{f_u}\delta\mathbf{u}=\mathbf{0}\)

Parameters

[in]	data	Contact inverse-dynamics data
[out]	u	Quasic-static commands
[in]	x	State point (velocity has to be zero)
[in]	maxiter	Maximum allowed number of iterations (default 100)
[in]	tol	Tolerance (default 1e-9)

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ get_ng()

template<typename _Scalar >

virtual std::size_t get_ng ( ) const

virtual

Return the number of inequality constraints.

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ get_nh()

template<typename _Scalar >

virtual std::size_t get_nh ( ) const

virtual

Return the number of equality constraints.

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ get_ng_T()

template<typename _Scalar >

virtual std::size_t get_ng_T ( ) const

virtual

Return the number of equality terminal constraints.

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ get_nh_T()

template<typename _Scalar >

virtual std::size_t get_nh_T ( ) const

virtual

Return the number of equality terminal constraints.

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ get_g_lb()

template<typename _Scalar >

virtual const VectorXs & get_g_lb ( ) const

virtual

Return the lower bound of the inequality constraints.

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ get_g_ub()

template<typename _Scalar >

virtual const VectorXs & get_g_ub ( ) const

virtual

Return the upper bound of the inequality constraints.

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

◆ print()

template<typename _Scalar >

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

virtual

Print relevant information of the contact inverse-dynamics model.

Parameters

[out] os Output stream object

Reimplemented from DifferentialActionModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 49 of file contact-invdyn.hpp.

◆ g_lb_

template<typename _Scalar >

VectorXs g_lb_

protected

Lower bound of the inequality constraints.

Definition at line 365 of file diff-action-base.hpp.

◆ g_ub_

template<typename _Scalar >

VectorXs g_ub_

protected

< Lower bound of the inequality constraints

Definition at line 366 of file diff-action-base.hpp.

◆ ng_

template<typename _Scalar >

std::size_t ng_

protected

< Upper bound of the inequality constraints

Definition at line 359 of file diff-action-base.hpp.

◆ nh_

template<typename _Scalar >

std::size_t nh_

protected

< Number of inequality constraints

Definition at line 360 of file diff-action-base.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

< Number of equality constraints

Definition at line 357 of file diff-action-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateAbstract> state_

protected

< Control dimension

Definition at line 363 of file diff-action-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/actions/contact-invdyn.hpp

Classes

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ Data

◆ StateMultibody

◆ ActuationModelAbstract

◆ CostModelSum

◆ ConstraintModelManager

◆ ContactModelMultiple

◆ DataCollectorAbstract

◆ DifferentialActionDataAbstract

◆ ContactItem

◆ MathBase

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ DifferentialActionModelContactInvDynamicsTpl() [1/2]

◆ DifferentialActionModelContactInvDynamicsTpl() [2/2]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ checkData()

◆ quasiStatic()

◆ get_ng()

◆ get_nh()

◆ get_ng_T()

◆ get_nh_T()

◆ get_g_lb()

◆ get_g_ub()

◆ print()

Member Data Documentation

◆ Scalar

◆ g_lb_

◆ g_ub_

◆ ng_

◆ nh_

◆ nu_

◆ state_