ResidualModelCoMPositionTpl< _Scalar > Class Template Reference

CoM position residual. More...

#include <crocoddyl/multibody/residuals/com-position.hpp>

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base
typedef ResidualDataCoMPositionTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef MathBase::Vector3s	Vector3s
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ResidualModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, const Vector3s &cref)
	Initialize the CoM position residual model. More...
	ResidualModelCoMPositionTpl (boost::shared_ptr< StateMultibody > state, const Vector3s &cref, const std::size_t nu)
	Initialize the CoM position 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 CoM position 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 CoM position residual. More...
virtual boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
const Vector3s &	get_reference () const
	Return the CoM position reference.
virtual void	print (std::ostream &os) const
	Print relevant information of the com-position residual. More...
void	set_reference (const Vector3s &cref)
	Modify the CoM position reference.

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.
bool	v_dependent_
	Label that indicates if the residual function depends on v.

Detailed Description

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

CoM position residual.

This residual function defines the CoM tracking as \(\mathbf{r}=\mathbf{c}-\mathbf{c}^*\), where \(\mathbf{c},\mathbf{c}^*\in~\mathbb{R}^3\) are the current and reference CoM position, respectively. Note that the dimension of the residual vector is obtained from 3. 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 97 of file fwd.hpp.

Constructor & Destructor Documentation

ResidualModelCoMPositionTpl() [1/2]

ResidualModelCoMPositionTpl	(	boost::shared_ptr< StateMultibody >	state,
		const Vector3s &	cref,
		const std::size_t	nu
	)

Initialize the CoM position residual model.

Parameters

[in]	state	State of the multibody system
[in]	cref	Reference CoM position
[in]	nu	Dimension of the control vector

ResidualModelCoMPositionTpl() [2/2]

ResidualModelCoMPositionTpl	(	boost::shared_ptr< StateMultibody >	state,
		const Vector3s &	cref
	)

Initialize the CoM position residual model.

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

Parameters

[in]	state	State of the multibody system
[in]	cref	Reference CoM position

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 CoM position residual.

Parameters

[in]	data	CoM position 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 CoM position residual.

Parameters

[in]	data	CoM position 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 com-position 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/com-position.hpp