Define a stack of impulse models. More...

#include <multiple-impulses.hpp>

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

typedef ImpulseDataAbstractTpl< Scalar >	ImpulseDataAbstract

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

typedef ImpulseDataMultipleTpl< Scalar >	ImpulseDataMultiple

typedef ImpulseItemTpl< Scalar >	ImpulseItem

typedef ImpulseModelAbstractTpl< Scalar >	ImpulseModelAbstract

typedef std::map< std::string, std::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 (std::shared_ptr< StateMultibody > state)
	Initialize the multi-impulse model.

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

void	calc (const std::shared_ptr< ImpulseDataMultiple > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the total impulse Jacobian and impulse velocity.

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

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

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

const std::set< std::string > &	get_active_set () const
	Return the names of the set of active impulses.

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

const std::set< std::string > &	get_inactive_set () const
	Return the names of the set of inactive impulses.

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

std::size_t	get_nc_total () const
	Return the dimension of all impulses.

const std::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.

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

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

void	updateRneaDiff (const std::shared_ptr< ImpulseDataMultiple > &data, pinocchio::DataTpl< Scalar > &pinocchio) const
	Update the RNEA derivatives dtau_dq by adding the skew term (necessary for impulses expressed in LOCAL_WORLD_ALIGNED / WORLD)

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

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

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 60 of file multiple-impulses.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 65 of file multiple-impulses.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 66 of file multiple-impulses.hpp.

◆ ImpulseDataAbstract

template<typename _Scalar >

typedef ImpulseDataAbstractTpl<Scalar> ImpulseDataAbstract

Definition at line 67 of file multiple-impulses.hpp.

◆ ImpulseDataMultiple

template<typename _Scalar >

typedef ImpulseDataMultipleTpl<Scalar> ImpulseDataMultiple

Definition at line 68 of file multiple-impulses.hpp.

◆ ImpulseModelAbstract

template<typename _Scalar >

typedef ImpulseModelAbstractTpl<Scalar> ImpulseModelAbstract

Definition at line 69 of file multiple-impulses.hpp.

◆ ImpulseItem

template<typename _Scalar >

typedef ImpulseItemTpl<Scalar> ImpulseItem

Definition at line 71 of file multiple-impulses.hpp.

◆ Vector2s

template<typename _Scalar >

typedef MathBase::Vector2s Vector2s

Definition at line 73 of file multiple-impulses.hpp.

◆ Vector3s

template<typename _Scalar >

typedef MathBase::Vector3s Vector3s

Definition at line 74 of file multiple-impulses.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 75 of file multiple-impulses.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 76 of file multiple-impulses.hpp.

◆ ImpulseModelContainer

template<typename _Scalar >

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

Definition at line 79 of file multiple-impulses.hpp.

◆ ImpulseDataContainer

template<typename _Scalar >

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

Definition at line 81 of file multiple-impulses.hpp.

◆ ForceIterator

template<typename _Scalar >

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

Definition at line 83 of file multiple-impulses.hpp.

Constructor & Destructor Documentation

◆ ImpulseModelMultipleTpl()

template<typename _Scalar >

ImpulseModelMultipleTpl ( std::shared_ptr< StateMultibody > state )

explicit

Initialize the multi-impulse model.

Parameters

[in] state Multibody state

Member Function Documentation

◆ addImpulse()

template<typename _Scalar >

void addImpulse	(	const std::string &	name,
		std::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]	impulse	Impulse model
[in]	active	Impulse status (active by default)

◆ removeImpulse()

template<typename _Scalar >

void removeImpulse ( const std::string & name )

Remove impulse item.

Parameters

[in] name Impulse name

◆ changeImpulseStatus()

template<typename _Scalar >

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()

template<typename _Scalar >

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

Compute the total impulse Jacobian and impulse velocity.

Parameters

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

◆ calcDiff()

template<typename _Scalar >

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

Compute the derivatives of the impulse holonomic constraint.

Parameters

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

◆ updateVelocity()

template<typename _Scalar >

void updateVelocity	(	const std::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()

template<typename _Scalar >

void updateForce	(	const std::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()

template<typename _Scalar >

void updateVelocityDiff	(	const std::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()

template<typename _Scalar >

void updateForceDiff	(	const std::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 \(\frac{\partial{}^o\underline{\boldsymbol{\Lambda}}_c}{\partial\mathbf{x}}\in\mathbb{R}^{nc\times{ndx}}\)

◆ updateRneaDiff()

template<typename _Scalar >

void updateRneaDiff	(	const std::shared_ptr< ImpulseDataMultiple > &	data,
		pinocchio::DataTpl< Scalar > &	pinocchio
	)		const

Update the RNEA derivatives dtau_dq by adding the skew term (necessary for impulses expressed in LOCAL_WORLD_ALIGNED / WORLD)

as explained in this document : https://www.overleaf.com/read/tzvrrxxtntwk

Parameters

[in]	data	Multi-contact data
[in]	pinocchio	Pinocchio data

◆ createData()

template<typename _Scalar >

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

Create the multi-impulse data.

Parameters

[in] data Pinocchio data

Returns: the multi-impulse data.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 64 of file multiple-impulses.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/impulses/multiple-impulses.hpp

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ StateMultibody

◆ ImpulseDataAbstract

◆ ImpulseDataMultiple

◆ ImpulseModelAbstract

◆ ImpulseItem

◆ Vector2s

◆ Vector3s

◆ VectorXs

◆ MatrixXs

◆ ImpulseModelContainer

◆ ImpulseDataContainer

◆ ForceIterator

Constructor & Destructor Documentation

◆ ImpulseModelMultipleTpl()

Member Function Documentation

◆ addImpulse()

◆ removeImpulse()

◆ changeImpulseStatus()

◆ calc()

◆ calcDiff()

◆ updateVelocity()

◆ updateForce()

◆ updateVelocityDiff()

◆ updateForceDiff()

◆ updateRneaDiff()

◆ createData()

Member Data Documentation

◆ Scalar