Contact friction cone residual. More...

#include <crocoddyl/multibody/residuals/contact-friction-cone.hpp>

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base

typedef ResidualDataContactFrictionConeTpl< Scalar >	Data

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef FrictionConeTpl< Scalar >	FrictionCone

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixX3s	MatrixX3s

typedef MathBase::MatrixXs	MatrixXs

typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ResidualModelContactFrictionConeTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const FrictionCone &fref)
	Initialize the contact friction cone residual model. More...

	ResidualModelContactFrictionConeTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const FrictionCone &fref, const std::size_t nu)
	Initialize the contact friction cone 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 friction cone 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 friction cone residual. More...

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

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

const FrictionCone &	get_reference () const
	Return the reference contact friction cone.

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

void	set_id (const pinocchio::FrameIndex id)
	Modify the reference frame id.

void	set_reference (const FrictionCone &reference)
	Modify the reference contact friction cone.

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.

Detailed Description

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

Contact friction cone residual.

This residual function is defined as \(\mathbf{r}=\mathbf{A}\boldsymbol{\lambda}\), where \(\mathbf{A}\in~\mathbb{R}^{nr\times nc}\) describes the linearized friction cone, \(\boldsymbol{\lambda}\in~\mathbb{R}^{nc}\) is the spatial contact forces computed by DifferentialActionModelContactFwdDynamicsTpl, and nr, nc are the number of cone facets and dimension of the contact, respectively.

Both residual and residual Jacobians are computed analytically, where th force vector \(\boldsymbol{\lambda}\) and its Jacobians \(\left(\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{x}}, \frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{u}}\right)\) 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.

As described in ResidualModelAbstractTpl(), the residual value and its derivatives are calculated by calc and calcDiff, respectively.

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

Definition at line 107 of file fwd.hpp.

Constructor & Destructor Documentation

◆ ResidualModelContactFrictionConeTpl() [1/2]

ResidualModelContactFrictionConeTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const FrictionCone &	fref,
		const std::size_t	nu
	)

Initialize the contact friction cone residual model.

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id
[in]	fref	Reference friction cone
[in]	nu	Dimension of the control vector

◆ ResidualModelContactFrictionConeTpl() [2/2]

ResidualModelContactFrictionConeTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const FrictionCone &	fref
	)

Initialize the contact friction cone residual model.

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

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id
[in]	fref	Reference friction cone

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 friction cone residual.

Parameters

[in]	data	Contact friction cone residual data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control 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]	data	Residual data
[in]	x	State 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 friction cone residual.

Parameters

[in]	data	Contact friction cone residual data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control 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]	data	Residual data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

◆ print()

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

virtual

Print relevant information of the contact-friction-cone residual.

Parameters

[out] os Output stream object

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

include/crocoddyl/multibody/fwd.hpp
include/crocoddyl/multibody/residuals/contact-friction-cone.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ ResidualModelContactFrictionConeTpl() [1/2]

◆ ResidualModelContactFrictionConeTpl() [2/2]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ print()

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