crocoddyl  1.9.0
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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< ResidualDataAbstractcreateData (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< StateAbstractstate_
 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]stateState of the multibody system
[in]crefReference CoM position
[in]nuDimension 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]stateState of the multibody system
[in]crefReference 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]dataCoM position residual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl 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]dataCoM position residual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl 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]osOutput stream object

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