Control gravity residual under contact. More...
#include <crocoddyl/multibody/residuals/contact-control-gravity.hpp>
Public Types | |
typedef ActuationModelAbstractTpl< Scalar > | ActuationModelAbstract |
typedef ResidualModelAbstractTpl< Scalar > | Base |
typedef ResidualDataContactControlGravTpl< Scalar > | Data |
typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
typedef MathBaseTpl< Scalar > | MathBase |
typedef MathBase::MatrixXs | MatrixXs |
typedef ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
typedef StateMultibodyTpl< Scalar > | StateMultibody |
typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
ResidualModelContactControlGravTpl (boost::shared_ptr< StateMultibody > state) | |
Initialize the contact control gravity contact residual model. More... | |
ResidualModelContactControlGravTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nu) | |
Initialize the contact control gravity contact 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 control gravity contact 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 control gravity contact residual. More... | |
virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
Create the contact-control-gravity residual data. | |
virtual void | print (std::ostream &os) const |
Print relevant information of the contact-control-grav residual. More... | |
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. | |
VectorXs | unone_ |
No control vector. | |
bool | v_dependent_ |
Label that indicates if the residual function depends on v. | |
Control gravity residual under contact.
This residual function is defined as \(\mathbf{r}=\mathbf{u}-(\mathbf{g}(\mathbf{q}) - \sum \mathbf{J}_c(\mathbf{q})^{\top} \mathbf{f}_c)\), where \(\mathbf{u}\in~\mathbb{R}^{nu}\) is the current control input, \(\mathbf{J}_c(\mathbf{q})\) is the contact Jacobians, \(\mathbf{f}_c\) contains the contact forces, \(\mathbf{g}(\mathbf{q})\) is the gravity torque corresponding to the current configuration, \(\mathbf{q}\in~\mathbb{R}^{nq}\) is the current position joints input. Note that the dimension of the residual vector is obtained from state->get_nv()
.
As described in ResidualModelAbstractTpl()
, the residual value and its Jacobians are calculated by calc()
and calcDiff()
, respectively.
ResidualModelAbstractTpl
, calc()
, calcDiff()
, createData()
ResidualModelContactControlGravTpl | ( | boost::shared_ptr< StateMultibody > | state, |
const std::size_t | nu | ||
) |
Initialize the contact control gravity contact residual model.
[in] | state | State of the multibody system |
[in] | nu | Dimension of the control vector |
|
explicit |
Initialize the contact control gravity contact residual model.
The default nu
value is obtained from StateAbstractTpl::get_nv()
.
[in] | state | State of the multibody system |
|
virtual |
Compute the contact control gravity contact residual.
[in] | data | Contact control gravity 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 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.
[in] | data | Residual data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
|
virtual |
Compute the Jacobians of the contact control gravity contact residual.
[in] | data | Contact control gravity 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 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.
[in] | data | Residual data |
[in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
|
virtual |
Print relevant information of the contact-control-grav residual.
[out] | os | Output stream object |