Crocoddyl
ResidualModelContactControlGravTpl< _Scalar > Class Template Reference

Control gravity residual under contact. More...

#include <contact-control-gravity.hpp>

Inheritance diagram for ResidualModelContactControlGravTpl< _Scalar >:
ResidualModelAbstractTpl< _Scalar >

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 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

 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 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< StateAbstractstate_
 State description.
 
bool v_dependent_
 
- 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< StateAbstractstate_
 State description.
 
bool u_dependent_
 
VectorXs unone_
 No control vector.
 
bool v_dependent_
 

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 40 of file contact-control-gravity.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 \(\mathbf{u}\in\mathbb{R}^{nu}\)

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]dataResidual data
[in]xState 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 control gravity contact residual.

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

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ print()

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

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

Parameters
[out]osOutput stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ v_dependent_

bool v_dependent_
protected

Label that indicates if the residual function depends on v

Definition at line 231 of file residual-base.hpp.


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