Define a stack of impulse models. More...

#include <crocoddyl/multibody/impulses/multiple-impulses.hpp>

Public Types
typedef pinocchio::container::aligned_vector< pinocchio::ForceTpl< Scalar > >::iterator	ForceIterator

typedef ImpulseDataAbstractTpl< Scalar >	ImpulseDataAbstract

typedef std::map< std::string, boost::shared_ptr< ImpulseDataAbstract > >	ImpulseDataContainer

typedef ImpulseDataMultipleTpl< Scalar >	ImpulseDataMultiple

typedef ImpulseItemTpl< Scalar >	ImpulseItem

typedef ImpulseModelAbstractTpl< Scalar >	ImpulseModelAbstract

typedef std::map< std::string, boost::shared_ptr< ImpulseItem > >	ImpulseModelContainer

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::Vector2s	Vector2s

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ImpulseModelMultipleTpl (boost::shared_ptr< StateMultibody > state)
	Initialize the multi-impulse model. More...

void	addImpulse (const std::string &name, boost::shared_ptr< ImpulseModelAbstract > impulse, const bool active=true)
	Add impulse item. More...

void	calc (const boost::shared_ptr< ImpulseDataMultiple > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the total contact Jacobian and contact acceleration. More...

void	calcDiff (const boost::shared_ptr< ImpulseDataMultiple > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the derivatives of the contact holonomic constraint. More...

void	changeImpulseStatus (const std::string &name, const bool active)
	Change the impulse status. More...

boost::shared_ptr< ImpulseDataMultiple >	createData (pinocchio::DataTpl< Scalar > *const data)
	Create the multi-impulse data. More...

	DEPRECATED ("get_active() is deprecated and will be replaced with get_active_set()", const std::vector< std::string > &get_active() { active_.clear();active_.reserve(active_set_.size());for(const auto &contact :active_set_) { active_.push_back(contact);} return active_;};) DEPRECATED("get_inactive() is deprecated and will be replaced with get_inactive_set()"

const ImpulseModelContainer &	get_impulses () const
	Return the impulse models.

const std::vector< std::string > &	get_inactive ()

DEPRECATED("Use get_nc().", std::size_t get_ni() const ;) std const DEPRECATED("Use get_nc_total().", std::size_t get_ni_total() const ;) const std std::set< std::string > &	get_inactive_set () const
	Return the dimension of all impulses. More...

std::size_t	get_nc () const
	Return the dimension of active impulses.

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

bool	getImpulseStatus (const std::string &name) const
	Return the status of a given impulse name.

void	removeImpulse (const std::string &name)
	Remove impulse item. More...

void	updateForce (const boost::shared_ptr< ImpulseDataMultiple > &data, const VectorXs &impulse)
	Update the spatial impulse defined in frame coordinate. More...

void	updateForceDiff (const boost::shared_ptr< ImpulseDataMultiple > &data, const MatrixXs &df_dx) const
	Update the Jacobian of the spatial impulse defined in frame coordinate. More...

void	updateVelocity (const boost::shared_ptr< ImpulseDataMultiple > &data, const VectorXs &vnext) const
	Update the system velocity after impulse. More...

void	updateVelocityDiff (const boost::shared_ptr< ImpulseDataMultiple > &data, const MatrixXs &dvnext_dx) const
	Update the Jacobian of the system velocity after impulse. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Friends
template<class Scalar >
std::ostream &	operator<< (std::ostream &os, const ImpulseModelMultipleTpl< Scalar > &model)
	Print information on the impulse models.

Detailed Description

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

Define a stack of impulse models.

The impulse models can be defined with active and inactive status. The idea behind this design choice is to be able to create a mechanism that allocates the entire data needed for the computations. Then, there are designed routines that update the only active impulse.

Definition at line 343 of file fwd.hpp.

Constructor & Destructor Documentation

◆ ImpulseModelMultipleTpl()

ImpulseModelMultipleTpl ( boost::shared_ptr< StateMultibody > state )

explicit

Initialize the multi-impulse model.

Parameters

[in] state Multibody state

Member Function Documentation

◆ addImpulse()

void addImpulse	(	const std::string &	name,
		boost::shared_ptr< ImpulseModelAbstract >	impulse,
		const bool	active = `true`
	)

Add impulse item.

Note that the memory is allocated for inactive impulses as well.

Parameters

[in]	name	Impulse name
[in]	contact	Impulse model
[in]	active	Impulse status (active by default)

◆ removeImpulse()

void removeImpulse ( const std::string & name )

Remove impulse item.

Parameters

[in] name Impulse name

◆ changeImpulseStatus()

void changeImpulseStatus	(	const std::string &	name,
		const bool	active
	)

Change the impulse status.

Parameters

[in]	name	Impulse name
[in]	active	Impulse status (True for active)

◆ calc()

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

Compute the total contact Jacobian and contact acceleration.

Parameters

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

◆ calcDiff()

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

Compute the derivatives of the contact holonomic constraint.

Parameters

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

◆ updateVelocity()

void updateVelocity	(	const boost::shared_ptr< ImpulseDataMultiple > &	data,
		const VectorXs &	vnext
	)		const

Update the system velocity after impulse.

Parameters

[in]	data	Multi-impulse data
[in]	vnext	System velocity after impulse \(\mathbf{v}'\in\mathbb{R}^{nv}\)

◆ updateForce()

void updateForce	(	const boost::shared_ptr< ImpulseDataMultiple > &	data,
		const VectorXs &	impulse
	)

Update the spatial impulse defined in frame coordinate.

Parameters

[in]	data	Multi-impulse data
[in]	impulse	Spatial impulse defined in frame coordinate \({}^o\underline{\boldsymbol{\Lambda}}_c\in\mathbb{R}^{nc}\)

◆ updateVelocityDiff()

void updateVelocityDiff	(	const boost::shared_ptr< ImpulseDataMultiple > &	data,
		const MatrixXs &	dvnext_dx
	)		const

Update the Jacobian of the system velocity after impulse.

Parameters

[in]	data	Multi-impulse data
[in]	dvnext_dx	Jacobian of the system velocity after impact in generalized coordinates \(\frac{\partial\dot{\mathbf{v}'}}{\partial\mathbf{x}}\in\mathbb{R}^{nv\times{ndx}}\)

◆ updateForceDiff()

void updateForceDiff	(	const boost::shared_ptr< ImpulseDataMultiple > &	data,
		const MatrixXs &	df_dx
	)		const

Update the Jacobian of the spatial impulse defined in frame coordinate.

Parameters

[in]	data	Multi-contact data
[in]	df_dx	Jacobian of the spatial impulse defined in frame coordinate \(\frac{\partial{}^o\underline{\boldsymbol{\Lambda}}_c}{\partial\mathbf{x}}\in\mathbb{R}^{nc\times{ndx}}\)

◆ createData()

boost::shared_ptr<ImpulseDataMultiple> createData ( pinocchio::DataTpl< Scalar > *const data )

Create the multi-impulse data.

Parameters

[in] data Pinocchio data

Returns: the multi-impulse data.

◆ get_inactive_set()

DEPRECATED ("Use get_nc().", std::size_t get_ni() const;) std const DEPRECATED ("Use get_nc_total().", std::size_t get_ni_total() const;) const std std::set<std::string>& get_inactive_set ( ) const

Return the dimension of all impulses.

Return the names of the set of active contacts

Return the names of the set of inactive contacts

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

include/crocoddyl/multibody/fwd.hpp
include/crocoddyl/multibody/impulses/multiple-impulses.hpp

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

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

Constructor & Destructor Documentation

◆ ImpulseModelMultipleTpl()

Member Function Documentation

◆ addImpulse()

◆ removeImpulse()

◆ changeImpulseStatus()

◆ calc()

◆ calcDiff()

◆ updateVelocity()

◆ updateForce()

◆ updateVelocityDiff()

◆ updateForceDiff()

◆ createData()

◆ get_inactive_set()

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