ResidualModelCentroidalMomentumTpl< _Scalar > Class Template Reference

Centroidal momentum residual. More...

#include <crocoddyl/multibody/residuals/centroidal-momentum.hpp>

Public Types
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract
typedef ResidualModelAbstractTpl< Scalar >	Base
typedef ResidualDataCentroidalMomentumTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix6xs	Matrix6xs
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef MathBase::Vector6s	Vector6s
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ResidualModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &href)
	Initialize the centroidal momentum residual model. More...
	ResidualModelCentroidalMomentumTpl (boost::shared_ptr< StateMultibody > state, const Vector6s &href, const std::size_t nu)
	Initialize the centroidal momentum residual model. More...
virtual void	calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the centroidal momentum residual. More...
virtual void	calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the derivatives of the centroidal momentum residual. More...
virtual boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the centroidal momentum residual data.
const Vector6s &	get_reference () const
	Return the reference centroidal momentum.
virtual void	print (std::ostream &os) const
	Print relevant information of the centroidal-momentum residual. More...
void	set_reference (const Vector6s &href)
	Modify the reference centroidal momentum.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::size_t	nu_
	Control dimension.
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.

Detailed Description

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

Centroidal momentum residual.

This residual function defines the centroidal momentum tracking as \(\mathbf{r}=\mathbf{h}-\mathbf{h}^*\), where \(\mathbf{h},\mathbf{h}^*\in~\mathcal{X}\) are the current and reference centroidal momenta, respectively. Note that the dimension of the residual vector is 6. Furthermore, the Jacobians of the residual function are computed analytically.

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 92 of file fwd.hpp.

Constructor & Destructor Documentation

ResidualModelCentroidalMomentumTpl() [1/2]

ResidualModelCentroidalMomentumTpl	(	boost::shared_ptr< StateMultibody >	state,
		const Vector6s &	href,
		const std::size_t	nu
	)

Initialize the centroidal momentum residual model.

Parameters

[in]	state	State of the multibody system
[in]	href	Reference centroidal momentum
[in]	nu	Dimension of the control vector

ResidualModelCentroidalMomentumTpl() [2/2]

ResidualModelCentroidalMomentumTpl	(	boost::shared_ptr< StateMultibody >	state,
		const Vector6s &	href
	)

Initialize the centroidal momentum residual model.

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

Parameters

[in]	state	State of the multibody system
[in]	href	Reference centroidal momentum

Member Function Documentation

calc()

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

virtual

Compute the centroidal momentum residual.

Parameters

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

calcDiff()

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

virtual

Compute the derivatives of the centroidal momentum residual.

Parameters

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

print()

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

virtual

Print relevant information of the centroidal-momentum residual.

Parameters

[out]

os

Output stream object

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

• include/crocoddyl/multibody/fwd.hpp
• include/crocoddyl/multibody/residuals/centroidal-momentum.hpp