crocoddyl  1.9.0
Contact RObot COntrol by Differential DYnamic programming Library (Crocoddyl)
ResidualModelContactControlGravTpl< _Scalar > Class Template Reference

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< ResidualDataAbstractcreateData (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< StateAbstractstate_
 State description.
 
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::ResidualModelContactControlGravTpl< _Scalar >

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.

See also
ResidualModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 122 of file fwd.hpp.

Constructor & Destructor Documentation

◆ ResidualModelContactControlGravTpl() [1/2]

ResidualModelContactControlGravTpl ( boost::shared_ptr< StateMultibody state,
const std::size_t  nu 
)

Initialize the contact control gravity contact residual model.

Parameters
[in]stateState of the multibody system
[in]nuDimension of the control vector

◆ ResidualModelContactControlGravTpl() [2/2]

ResidualModelContactControlGravTpl ( boost::shared_ptr< StateMultibody state)
explicit

Initialize the contact control gravity contact residual model.

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

Parameters
[in]stateState of the multibody system

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 control gravity contact residual.

Parameters
[in]dataContact control gravity residual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

◆ 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]dataResidual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

◆ 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 control gravity contact residual.

Parameters
[in]dataContact control gravity residual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl input \(\mathbf{u}\in\mathbb{R}^{nu}\)

◆ 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]dataResidual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

◆ print()

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

Print relevant information of the contact-control-grav residual.

Parameters
[out]osOutput stream object

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