Center of pressure residual function. More...

#include <contact-cop-position.hpp>

Inheritance diagram for ResidualModelContactCoPPositionTpl< _Scalar >:

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base

typedef CoPSupportTpl< Scalar >	CoPSupport

typedef ResidualDataContactCoPPositionTpl< Scalar >	Data

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::Matrix46s	Matrix46

typedef MathBase::MatrixXs	MatrixXs

typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Types inherited from ResidualModelAbstractTpl< _Scalar >
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
	ResidualModelContactCoPPositionTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const CoPSupport &cref)
	Initialize the contact CoP residual model. More...

	ResidualModelContactCoPPositionTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const CoPSupport &cref, const std::size_t nu, const bool fwddyn=true)
	Initialize the contact CoP 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 contact CoP residual. 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 Jacobians of the contact CoP residual. More...

virtual boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the contact CoP residual data. More...

	DEPRECATED ("Do not use set_id, instead create a new model", void set_id(pinocchio::FrameIndex id);) void set_reference(const CoPSupport &reference)
	Modify the reference frame id. More...

pinocchio::FrameIndex	get_id () const
	Return the reference frame id.

const CoPSupport &	get_reference () const
	Return the reference support region of CoP.

bool	is_fwddyn () const
	Indicates if we are using the forward-dynamics (true) or inverse-dynamics (false)

virtual void	print (std::ostream &os) const
	Print relevant information of the cop-position residual. More...

void	updateJacobians (const boost::shared_ptr< ResidualDataAbstract > &data)
	Update the Jacobians of the contact friction cone residual. More...

Public Member Functions inherited from ResidualModelAbstractTpl< _Scalar >
	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	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...

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.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Public Attributes inherited from ResidualModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::size_t	nu_
	Control dimension.

boost::shared_ptr< StateAbstract >	state_
	State description.

Protected Attributes inherited from ResidualModelAbstractTpl< _Scalar >
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_

Detailed Description

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

Center of pressure residual function.

It builds a residual function that bounds the center of pressure (CoP) for one contact surface to lie inside a certain geometric area defined around the reference contact frame. The residual residual vector is described as \(\mathbf{r}=\mathbf{A}\boldsymbol{\lambda}\geq\mathbf{0}\), where

\[ \mathbf{A}= \begin{bmatrix} 0 & 0 & X/2 & 0 & -1 & 0 \\ 0 & 0 & X/2 & 0 & 1 & 0 \\ 0 & 0 & Y/2 & 1 & 0 & 0 \\ 0 & 0 & Y/2 & -1 & 0 & 0 \end{bmatrix} \]

is the inequality matrix and \(\boldsymbol{\lambda}\) is the reference spatial contact force in the frame coordinate. The CoP lies inside the convex hull of the foot, see eq.(18-19) of https://hal.archives-ouvertes.fr/hal-02108449/document is we have:

\[ \begin{align}\begin{split}\tau^x &\leq Yf^z \\-\tau^x &\leq Yf^z \\\tau^y &\leq Yf^z \\-\tau^y &\leq Yf^z \end{split}\end{align} \]

with \(\boldsymbol{\lambda}= \begin{bmatrix}f^x & f^y & f^z & \tau^x & \tau^y & \tau^z \end{bmatrix}^T\).

The residual is computed, from the residual vector \(\mathbf{r}\), through an user defined activation model. Additionally, the contact frame id, the desired support region for the CoP and the inequality matrix are handled within CoPSupportTpl. The force vector \(\boldsymbol{\lambda}\) and its derivatives are computed by DifferentialActionModelContactFwdDynamicsTpl or ActionModelImpulseFwdDynamicTpl. These values are stored in a shared data (i.e., DataCollectorContactTpl or DataCollectorImpulseTpl). Note that this residual function cannot be used with other action models.

See also: ResidualModelAbstractTpl, calc(), calcDiff(), createData(), DifferentialActionModelContactFwdDynamicsTpl, ActionModelImpulseFwdDynamicTpl, DataCollectorForceTpl

Definition at line 67 of file contact-cop-position.hpp.

Constructor & Destructor Documentation

◆ ResidualModelContactCoPPositionTpl() [1/2]

ResidualModelContactCoPPositionTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const CoPSupport &	cref,
		const std::size_t	nu,
		const bool	fwddyn = `true`
	)

Initialize the contact CoP residual model.

Note that for the inverse-dynamic cases, the control vector contains the generalized accelerations, torques, and all the contact forces.

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id
[in]	cref	Reference support region of the CoP
[in]	nu	Dimension of control vector
[in]	fwddyn	Indicates that we have a forward dynamics problem (true) or inverse dynamics (false)

◆ ResidualModelContactCoPPositionTpl() [2/2]

ResidualModelContactCoPPositionTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const CoPSupport &	cref
	)

Initialize the contact CoP residual model.

The default nu value is obtained from StateAbstractTpl::get_nv(). Note that this constructor can be used for forward-dynamics cases only.

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id
[in]	cref	Reference support region of the CoP

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 contact CoP residual.

The CoP residual is computed based on the \(\mathbf{A}\) matrix, the force vector is computed by DifferentialActionModelContactFwdDynamicsTpl or ActionModelImpulseFwdDynamicTpl which is stored in DataCollectorContactTpl or DataCollectorImpulseTpl.

Parameters

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ 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 (i.e., it ignores the contact forces). 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 from ResidualModelAbstractTpl< _Scalar >.

◆ 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 Jacobians of the contact CoP residual.

The CoP residual is computed based on the \(\mathbf{A}\) matrix, the force vector is computed by DifferentialActionModelContactFwdDynamicsTpl or ActionModelImpulseFwdDynamicTpl which is stored in DataCollectorContactTpl or DataCollectorImpulseTpl.

Parameters

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ 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 (i.e., it ignores the contact forces). 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 from ResidualModelAbstractTpl< _Scalar >.

◆ createData()

virtual boost::shared_ptr<ResidualDataAbstract> createData ( DataCollectorAbstract *const data )

virtual

Create the contact CoP residual data.

Each residual model has its own data that needs to be allocated. This function returns the allocated data for a predefined residual.

Parameters

[in] data Shared data (it should be of type DataCollectorContactTpl)

Returns: the residual data.

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ updateJacobians()

void updateJacobians ( const boost::shared_ptr< ResidualDataAbstract > & data )

Update the Jacobians of the contact friction cone residual.

Parameters

[in] data Contact friction cone residual data

◆ DEPRECATED()

DEPRECATED	(	"Do not use	set_id,
		instead create a new model"	,
		void set_id(pinocchio::FrameIndex id);
	)		const &

Modify the reference frame id.

Modify the reference support region of CoP

◆ print()

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

virtual

Print relevant information of the cop-position residual.

Parameters

[out] os Output stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/residuals/contact-cop-position.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ ResidualModelContactCoPPositionTpl() [1/2]

◆ ResidualModelContactCoPPositionTpl() [2/2]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ updateJacobians()

◆ DEPRECATED()

◆ print()

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