Contact friction cone residual. More...

#include <contact-friction-cone.hpp>

Inheritance diagram for ResidualModelContactFrictionConeTpl< _Scalar >:

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

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

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

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

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

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

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 contact-friction-cone residual. More...

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

Public Member Functions inherited from ResidualModelAbstractTpl< _Scalar >
	ResidualModelAbstractTpl (std::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 (std::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 std::shared_ptr< CostDataAbstract > &cdata, const std::shared_ptr< ResidualDataAbstract > &rdata, const std::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 std::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.

std::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_

std::shared_ptr< StateAbstract >	state_
	State description.

bool	u_dependent_

VectorXs	unone_
	No control vector.

bool	v_dependent_

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 60 of file contact-friction-cone.hpp.

Constructor & Destructor Documentation

◆ ResidualModelContactFrictionConeTpl() [1/2]

ResidualModelContactFrictionConeTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const FrictionCone &	fref,
		const std::size_t	nu,
		const bool	fwddyn = `true`
	)

Initialize the contact friction cone 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]	fref	Reference friction cone
[in]	nu	Dimension of the control vector
[in]	fwddyn	Indicates that we have a forward dynamics problem (true) or inverse dynamics (false)

◆ ResidualModelContactFrictionConeTpl() [2/2]

ResidualModelContactFrictionConeTpl	(	std::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(). 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]	fref	Reference friction cone

Member Function Documentation

◆ calc() [1/2]

virtual void calc	(	const std::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 \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

virtual void calc	(	const std::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 std::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 \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calcDiff() [2/2]

virtual void calcDiff	(	const std::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 >.

◆ updateJacobians()

void updateJacobians ( const std::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(const pinocchio::FrameIndex id);
	)		const &

Modify the reference frame id.

Modify the reference contact friction cone

◆ print()

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

virtual

Print relevant information of the contact-friction-cone 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-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]

◆ updateJacobians()

◆ DEPRECATED()

◆ print()

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