ResidualModelFramePlacementTpl< _Scalar > Class Template Reference

Frame placement residual. More...

#include <crocoddyl/multibody/residuals/frame-placement.hpp>

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base
typedef ResidualDataFramePlacementTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef pinocchio::SE3Tpl< Scalar >	SE3
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ResidualModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref)
	Initialize the frame placement residual model. More...
	ResidualModelFramePlacementTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const std::size_t nu)
	Initialize the frame placement residual model. More...
virtual void	calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the frame placement residual. 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 frame placement residual. More...
virtual boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the frame placement residual data.
pinocchio::FrameIndex	get_id () const
	Return the reference frame id.
const SE3 &	get_reference () const
	Return the reference frame placement.
virtual void	print (std::ostream &os) const
	Print relevant information of the frame-placement residual. More...
void	set_id (const pinocchio::FrameIndex id)
	Modify the reference frame id.
void	set_reference (const SE3 &reference)
	Modify the reference frame placement.

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.
bool	u_dependent_
	Label that indicates if the residual function depends on u.
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::ResidualModelFramePlacementTpl< _Scalar >

Frame placement residual.

This residual function defines the frame placement tracking as \(\mathbf{r}=\mathbf{p}\ominus\mathbf{p}^*\), where \(\mathbf{p},\mathbf{p}^*\in~\mathbb{SE(3)}\) are the current and reference frame placements, respectively. Note that the dimension of the residual vector is 6. Furthermore, the Jacobians of the residual function 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 132 of file fwd.hpp.

Constructor & Destructor Documentation

ResidualModelFramePlacementTpl() [1/2]

ResidualModelFramePlacementTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const SE3 &	pref,
		const std::size_t	nu
	)

Initialize the frame placement residual model.

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id
[in]	pref	Reference frame placement
[in]	nu	Dimension of the control vector

ResidualModelFramePlacementTpl() [2/2]

ResidualModelFramePlacementTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const SE3 &	pref
	)

Initialize the frame placement residual model.

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

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id
[in]	pref	Reference frame placement

Member Function Documentation

calc()

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

virtual

Compute the frame placement residual.

Parameters

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

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 frame placement residual.

Parameters

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

print()

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

virtual

Print relevant information of the frame-placement 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/frame-placement.hpp