Crocoddyl
DifferentialActionModelFreeInvDynamicsTpl< _Scalar >::ResidualModelActuation Class Reference

Actuation residual. More...

#include <free-invdyn.hpp>

Inheritance diagram for DifferentialActionModelFreeInvDynamicsTpl< _Scalar >::ResidualModelActuation:
ResidualModelAbstractTpl< _Scalar >

Public Types

typedef ActuationModelAbstractTpl< Scalar > ActuationModelAbstract
 
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
 
- 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)
 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< ResidualDataAbstractcreateData (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 na_
 Dimension of the joint torques.
 
std::size_t nu_
 Control dimension.
 
boost::shared_ptr< StateAbstractstate_
 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< StateAbstractstate_
 State description.
 
bool u_dependent_
 
VectorXs unone_
 No control vector.
 
bool v_dependent_
 

Detailed Description

template<typename _Scalar>
class crocoddyl::DifferentialActionModelFreeInvDynamicsTpl< _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 DifferentialActionModelFreeInvDynamicsTpl.

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 246 of file free-invdyn.hpp.

Constructor & Destructor Documentation

◆ ResidualModelActuation()

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

Initialize the actuation residual model.

Parameters
[in]stateState of the multibody system
[in]nuDimension of the joint torques

Definition at line 266 of file free-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]dataActuation residual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nv+nu}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 279 of file free-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]dataResidual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 299 of file free-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]dataActuation residual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 311 of file free-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 336 of file free-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 347 of file free-invdyn.hpp.

◆ print()

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

Print relevant information of the actuation residual model.

Parameters
[out]osOutput stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Definition at line 359 of file free-invdyn.hpp.


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