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. | |
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.
ResidualModelAbstractTpl
, calc()
, calcDiff()
, createData()
ResidualModelCoMPositionTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const Vector3s & | cref, | ||
const std::size_t | nu | ||
) |
Initialize the CoM position residual model.
[in] | state | State of the multibody system |
[in] | cref | Reference CoM position |
[in] | nu | Dimension of the control vector |
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()
.
[in] | state | State of the multibody system |
[in] | cref | Reference CoM position |
|
virtual |
Compute the CoM position residual.
[in] | data | CoM position residual data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
|
virtual |
Compute the derivatives of the CoM position residual.
[in] | data | CoM position residual data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
[in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
|
virtual |
Print relevant information of the com-position residual.
[out] | os | Output stream object |