Define a control residual. More...

#include <control.hpp>

Inheritance diagram for ResidualModelControlTpl< _Scalar >:

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract

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
	ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state)
	Initialize the control residual model. More...

	ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu)
	Initialize the control residual model. More...

	ResidualModelControlTpl (boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &uref)
	Initialize the control 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 residual. 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 control-cost function. More...

virtual void	calcDiff (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the derivatives of the control residual. More...

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

const VectorXs &	get_reference () const
	Return the reference control vector.

virtual void	print (std::ostream &os) const
	Print relevant information of the control residual. More...

void	set_reference (const VectorXs &reference)
	Modify the reference control vector.

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	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...

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< 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_

boost::shared_ptr< StateAbstract >	state_
	State description.

bool	u_dependent_

VectorXs	unone_
	No control vector.

bool	v_dependent_

Detailed Description

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

Define a control residual.

This residual function is defined as \(\mathbf{r}=\mathbf{u}-\mathbf{u}^*\), where \(\mathbf{u},\mathbf{u}^*\in~\mathbb{R}^{nu}\) are the current and reference control inputs, respectively. Note that the dimension of the residual vector is obtained from nu.

Both residual and residual Jacobians are computed analytically.

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 35 of file control.hpp.

Constructor & Destructor Documentation

◆ ResidualModelControlTpl() [1/3]

ResidualModelControlTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		const VectorXs &	uref
	)

Initialize the control residual model.

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

Parameters

[in]	state	State of the multibody system
[in]	uref	Reference control input

◆ ResidualModelControlTpl() [2/3]

ResidualModelControlTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		const std::size_t	nu
	)

Initialize the control residual model.

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

Parameters

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

◆ ResidualModelControlTpl() [3/3]

ResidualModelControlTpl ( boost::shared_ptr< typename Base::StateAbstract > state )

explicit

Initialize the control residual model.

The default reference control is obtained from MathBaseTpl<>::VectorXs::Zero(nu).

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 residual.

Parameters

[in]	data	Control residual data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calc() [2/2]

virtual void calc	(	const boost::shared_ptr< ResidualDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

It updates the residual vector based on the state only. 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()

virtual void calcDiff	(	const boost::shared_ptr< ResidualDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

virtual

Compute the derivatives of the control residual.

Parameters

[in]	data	Control residual data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calcCostDiff()

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`
	)

virtual

Compute the derivative of the control-cost function.

This function assumes that the derivatives of the activation and residual are computed via calcDiff functions.

Parameters

cdata	Cost data
rdata	Residual data
adata	Activation data
update_u	Update the derivative of the cost function w.r.t. to the control if True.

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ print()

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

virtual

Print relevant information of the control 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/core/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/residuals/control.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ ResidualModelControlTpl() [1/3]

◆ ResidualModelControlTpl() [2/3]

◆ ResidualModelControlTpl() [3/3]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff()

◆ calcCostDiff()

◆ print()

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