ResidualModelControlGravTpl< _Scalar > Class Template Reference

Control gravity residual. More...

#include <crocoddyl/multibody/residuals/control-gravity.hpp>

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base
typedef ResidualDataControlGravTpl< 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
	ResidualModelControlGravTpl (boost::shared_ptr< StateMultibody > state)
	Initialize the control gravity residual model. More...
	ResidualModelControlGravTpl (boost::shared_ptr< StateMultibody > state, const std::size_t nu)
	Initialize the control gravity residual model. More...
virtual void	calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
virtual void	calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the control gravity residual. More...
virtual void	calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
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 control gravity residual. More...
virtual boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
virtual void	print (std::ostream &os) const
	Print relevant information of the 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.

Detailed Description

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

Control gravity residual.

This residual function is defined as \(\mathbf{r}=\mathbf{u}-\mathbf{g}(\mathbf{q})\), where \(\mathbf{u}\in~\mathbb{R}^{nu}\) is the current control input, \(\mathbf{g}(\mathbf{q})\) is the gravity torque corresponding to the current configuration, \(\mathbf{q}\in~\mathbb{R}^{nq}\) the current position joints input. Note that the dimension of the residual vector is obtained from StateAbstractTpl::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 127 of file fwd.hpp.

Constructor & Destructor Documentation

ResidualModelControlGravTpl() [1/2]

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

Initialize the control gravity residual model.

Parameters

[in]	state	State of the multibody system
[in]	nu	Dimension of control vector

ResidualModelControlGravTpl() [2/2]

ResidualModelControlGravTpl

(

boost::shared_ptr< StateMultibody >

state

)

Initialize the control gravity residual model.

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

Parameters

[in]

state

State 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 control gravity residual.

Parameters

[in]	data	Control 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

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 control gravity residual.

Parameters

[in]	data	Control 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

print()

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

virtual

Print relevant information of the control-grav residual.

Parameters

[out]

os

Output stream object

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

• include/crocoddyl/multibody/fwd.hpp
• include/crocoddyl/multibody/residuals/control-gravity.hpp