Abstract class for residual models. More...

#include <residual-base.hpp>

Inheritance diagram for ResidualModelAbstractTpl< _Scalar >:

Public Types
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
	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	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...

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_

boost::shared_ptr< StateAbstract >	state_
	State description.

bool	u_dependent_

VectorXs	unone_
	No control vector.

bool	v_dependent_

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 to note that calcDiff() computes the Jacobians using the latest stored values by calc(). Thus, we need to first run calc().

See also: StateAbstractTpl, calc(), calcDiff(), createData()

Definition at line 44 of file residual-base.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 \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented in ResidualModelControlGravTpl< _Scalar >, ResidualModelContactWrenchConeTpl< _Scalar >, ResidualModelContactFrictionConeTpl< _Scalar >, ResidualModelContactForceTpl< _Scalar >, ResidualModelContactCoPPositionTpl< _Scalar >, ResidualModelContactControlGravTpl< _Scalar >, ResidualModelJointEffortTpl< _Scalar >, DifferentialActionModelFreeInvDynamicsTpl< _Scalar >::ResidualModelActuation, DifferentialActionModelContactInvDynamicsTpl< _Scalar >::ResidualModelContact, and DifferentialActionModelContactInvDynamicsTpl< _Scalar >::ResidualModelActuation.

◆ 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 specialize this function if we need to create additional data, for instance, to avoid dynamic memory allocation.

Parameters

data	Data collector

Returns: the residual data

◆ calcCostDiff()

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`
	)

virtual

Compute the derivative of the cost function.

This function assumes that the derivatives of the activation and residual are computed via calcDiff functions.

Parameters

cdata	Cost data
rdata	Residual data
adata	Activation data
update_u	Update the derivative of the cost function w.r.t. to the control if True.

Reimplemented in ResidualModelStateTpl< _Scalar >, and ResidualModelControlTpl< _Scalar >.

◆ print()

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

virtual

Print relevant information of the residual model.

Parameters

[out] os Output stream object

Member Data Documentation

◆ q_dependent_

bool q_dependent_

protected

Label that indicates if the residual function depends on q

Definition at line 229 of file residual-base.hpp.

◆ v_dependent_

bool v_dependent_

protected

Label that indicates if the residual function depends on v

Definition at line 231 of file residual-base.hpp.

◆ u_dependent_

bool u_dependent_

protected

Label that indicates if the residual function depends on u

Definition at line 233 of file residual-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/residual-base.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Friends

Detailed Description

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

Constructor & Destructor Documentation

◆ ResidualModelAbstractTpl() [1/2]

◆ ResidualModelAbstractTpl() [2/2]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ calcCostDiff()

◆ print()

Member Data Documentation

◆ q_dependent_

◆ v_dependent_

◆ u_dependent_

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