Contact-acceleration residual. More...
#include <contact-invdyn.hpp>
Public Types | |
typedef ResidualModelAbstractTpl< Scalar > | Base |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::VectorXs | VectorXs |
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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 | |
ResidualModelContact (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const std::size_t nr, const std::size_t nc) | |
Initialize the contact-acceleration residual model. More... | |
virtual void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &) |
void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &) |
Compute the contact-acceleration residual. More... | |
virtual void | calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &) |
void | calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &) |
Compute the derivatives of the contact-acceleration residual. More... | |
virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the contact-acceleration residual data. More... | |
virtual void | print (std::ostream &os) const |
Print relevant information of the contact-acceleration residual model. More... | |
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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 |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Protected Attributes | |
std::size_t | nr_ |
Residual vector dimension. | |
std::size_t | nu_ |
Control dimension. | |
boost::shared_ptr< StateAbstract > | state_ |
State description. | |
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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_ |
Contact-acceleration residual.
This residual function is defined as \(\mathbf{r} = \mathbf{a_0}\), where \(\mathbf{a_0}\) defines the desired contact acceleration, which might also include the Baumgarte stabilization gains. Furthermore, the Jacobians of the residual function are computed analytically. This is used by ConstraintModelManagerTpl
inside parent DifferentialActionModelContactInvDynamicsTpl
class.
As described in ResidualModelAbstractTpl
, the residual value and its Jacobians are calculated by calc
and calcDiff
, respectively.
ResidualModelAbstractTpl
, calc()
, calcDiff()
, createData()
Definition at line 408 of file contact-invdyn.hpp.
|
inline |
Initialize the contact-acceleration residual model.
[in] | state | State of the multibody system |
[in] | id | Contact frame id |
[in] | nr | Dimension of the contact-acceleration residual |
[in] | nc | Dimension of all contacts |
Definition at line 429 of file contact-invdyn.hpp.
|
inlinevirtual |
Compute the contact-acceleration residual.
[in] | data | Contact-acceleration 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 444 of file contact-invdyn.hpp.
|
inlinevirtual |
It updates the residual vector based on the state only. This function is used in the terminal nodes of an optimal control problem.
[in] | data | Residual data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 456 of file contact-invdyn.hpp.
|
inlinevirtual |
Compute the derivatives of the contact-acceleration residual.
[in] | data | Contact-acceleration 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 468 of file contact-invdyn.hpp.
|
inlinevirtual |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 482 of file contact-invdyn.hpp.
|
inlinevirtual |
Create the contact-acceleration residual data.
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 493 of file contact-invdyn.hpp.
|
inlinevirtual |
Print relevant information of the contact-acceleration residual model.
[out] | os | Output stream object |
Reimplemented from ResidualModelAbstractTpl< _Scalar >.
Definition at line 506 of file contact-invdyn.hpp.