ResidualModelAbstractTpl< _Scalar > Class Template Reference

Abstract class for residual models. More...

#include <crocoddyl/core/residual-base.hpp>

Public Types
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef StateAbstractTpl< Scalar >	StateAbstract
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	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	calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the residual vector for nodes that depends only on the state. More...
virtual void	calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the residual vector. More...
virtual void	calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the Jacobian of the residual functions with respect to the state only. More...
virtual void	calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the Jacobian of the residual vector. More...
virtual boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the residual data. 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.
virtual void	print (std::ostream &os) const
	Print relevant information of the residual model. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::size_t	nr_
	Residual vector dimension.
std::size_t	nu_
	Control dimension.
bool	q_dependent_
	Label that indicates if the residual function depends on q.
boost::shared_ptr< StateAbstract >	state_
	State description.
bool	u_dependent_
	Label that indicates if the residual function depends on u.
VectorXs	unone_
	No control vector.
bool	v_dependent_
	Label that indicates if the residual function depends on v.

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

Detailed Description

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

Abstract class for residual models.

A residual model defines a vector function \(\mathbf{r}(\mathbf{x}, \mathbf{u})\mathbb{R}^{nr}\) where nr describes its dimension in the Euclidean space. This function depends on the state point \(\mathbf{x}\in\mathcal{X}\), which lies in the state manifold described with a nq-tuple, its velocity \(\dot{\mathbf{x}}\in T_{\mathbf{x}}\mathcal{X}\) that belongs to the tangent space with nv dimension, and the control input \(\mathbf{u}\in\mathbb{R}^{nu}\). The residual function can used across cost and constraint models.

The main computations are carring out in calc and calcDiff routines. calc computes the residual vector and calcDiff computes the Jacobians of the residual function. Additionally, it is important remark that calcDiff() computes the Jacobians using the latest stored values by calc(). Thus, we need to run first calc().

See also

StateAbstractTpl, calc(), calcDiff(), createData()

Definition at line 76 of file fwd.hpp.

Constructor & Destructor Documentation

ResidualModelAbstractTpl() [1/2]

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.

Parameters

[in]	state	State of the system
[in]	nr	Dimension of residual vector
[in]	nu	Dimension of control vector
[in]	q_dependent	Define if the residual function depends on q (default true)
[in]	v_dependent	Define if the residual function depends on v (default true)
[in]	u_dependent	Define if the residual function depends on u (default true)

ResidualModelAbstractTpl() [2/2]

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.

The default nu value is obtained from StateAbstractTpl::get_nv().

Parameters

[in]	state	State of the system
[in]	nr	Dimension of residual vector
[in]	q_dependent	Define if the residual function depends on q (default true)
[in]	v_dependent	Define if the residual function depends on v (default true)
[in]	u_dependent	Define if the residual function depends on u (default true)

Member Function Documentation

calc() [1/2]

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

virtual

Compute the residual vector.

Parameters

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

calc() [2/2]

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

virtual

Compute the residual vector for nodes that depends only on the state.

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 \(\mathbf{x}\in\mathbb{R}^{ndx}\)

calcDiff() [1/2]

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

virtual

Compute the Jacobian of the residual vector.

It computes the Jacobian the residual function. It assumes that calc() has been run first.

Parameters

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

calcDiff() [2/2]

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

virtual

Compute the Jacobian of the residual functions with respect to the state only.

It updates the Jacobian of the residual function 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 \(\mathbf{x}\in\mathbb{R}^{ndx}\)

createData()

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

virtual

Create the residual data.

The default data contains objects to store the values of the residual vector and their Jacobians. However, it is possible to specialized this function if we need to create additional data, for instance, to avoid dynamic memory allocation.

Parameters

data	Data collector

Returns

the residual data

print()

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

virtual

Print relevant information of the residual model.

Parameters

[out]

os

Output stream object

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

• include/crocoddyl/core/fwd.hpp
• include/crocoddyl/core/residual-base.hpp