Actuation residual. More...

#include <contact-invdyn.hpp>

Inheritance diagram for DifferentialActionModelContactInvDynamicsTpl< _Scalar >::ResidualModelActuation:

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ResidualModelAbstractTpl< _Scalar >
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract

typedef CostDataAbstractTpl< Scalar >	CostDataAbstract

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBase::DiagonalMatrixXs	DiagonalMatrixXs

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ResidualModelActuation (boost::shared_ptr< StateMultibody > state, const std::size_t nu, const std::size_t nc)
	Initialize the actuation residual model. More...

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

virtual void	calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &)
	Compute the actuation residual. More...

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

virtual void	calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &)
	Compute the derivatives of the actuation residual. More...

virtual boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the actuation residual data. More...

virtual void	print (std::ostream &os) const
	Print relevant information of the actuation residual model. More...

Public Member Functions inherited from ResidualModelAbstractTpl< _Scalar >
	ResidualModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const bool q_dependent=true, const bool v_dependent=true, const bool u_dependent=true)
	Initialize the residual model. More...

	ResidualModelAbstractTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu, const bool q_dependent=true, const bool v_dependent=true, const bool u_dependent=true)
	Initialize the residual model. More...

virtual void	calcCostDiff (const boost::shared_ptr< CostDataAbstract > &cdata, const boost::shared_ptr< ResidualDataAbstract > &rdata, const boost::shared_ptr< ActivationDataAbstract > &adata, const bool update_u=true)
	Compute the derivative of the cost function. More...

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

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

bool	get_q_dependent () const
	Return true if the residual function depends on q.

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

bool	get_u_dependent () const
	Return true if the residual function depends on u.

bool	get_v_dependent () const
	Return true if the residual function depends on v.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

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

Protected Attributes
std::size_t	nu_
	Control dimension.

boost::shared_ptr< StateAbstract >	state_
	State description.

Protected Attributes inherited from ResidualModelAbstractTpl< _Scalar >
std::size_t	nr_
	Residual vector dimension.

std::size_t	nu_
	Control dimension.

bool	q_dependent_

boost::shared_ptr< StateAbstract >	state_
	State description.

bool	u_dependent_

VectorXs	unone_
	No control vector.

bool	v_dependent_

Detailed Description

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

Actuation residual.

This residual function enforces the torques of under-actuated joints (e.g., floating-base joints) to be zero. We compute these torques and their derivatives using RNEA inside DifferentialActionModelContactInvDynamicsTpl.

As described in ResidualModelAbstractTpl, the residual value and its Jacobians are calculated by calc and calcDiff, respectively.

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

Definition at line 261 of file contact-invdyn.hpp.

Constructor & Destructor Documentation

◆ ResidualModelActuation()

ResidualModelActuation	(	boost::shared_ptr< StateMultibody >	state,
		const std::size_t	nu,
		const std::size_t	nc
	)

inline

Initialize the actuation residual model.

Parameters

[in]	state	State of the multibody system
[in]	nu	Dimension of the joint torques
[in]	nc	Dimension of all the contacts

Definition at line 280 of file contact-invdyn.hpp.

Member Function Documentation

◆ calc() [1/2]

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

inlinevirtual

Compute the actuation residual.

Parameters

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 295 of file contact-invdyn.hpp.

◆ calc() [2/2]

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

inlinevirtual

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

Parameters

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 315 of file contact-invdyn.hpp.

◆ calcDiff() [1/2]

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

inlinevirtual

Compute the derivatives of the actuation residual.

Parameters

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 327 of file contact-invdyn.hpp.

◆ calcDiff() [2/2]

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

inlinevirtual

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 354 of file contact-invdyn.hpp.

◆ createData()

virtual boost::shared_ptr<ResidualDataAbstract> createData ( DataCollectorAbstract *const data )

inlinevirtual

Create the actuation residual data.

Returns: Actuation residual data

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 365 of file contact-invdyn.hpp.

◆ print()

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

inlinevirtual

Print relevant information of the actuation residual model.

Parameters

[out] os Output stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 377 of file contact-invdyn.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

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ ResidualModelActuation()

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ print()

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