Frame placement residual. More...

#include <frame-placement.hpp>

Inheritance diagram for ResidualModelFramePlacementTpl< _Scalar >:

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 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
	ResidualModelFramePlacementTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref)
	Initialize the frame placement residual model.

	ResidualModelFramePlacementTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const std::size_t nu)
	Initialize the frame placement residual model.

virtual void	calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the frame placement residual.

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

virtual std::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.

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

void	set_reference (const SE3 &reference)
	Modify the reference frame placement.

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)

	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.

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.

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.

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.

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.

bool	u_dependent_

bool	v_dependent_

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::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 39 of file frame-placement.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 45 of file frame-placement.hpp.

◆ Base

template<typename _Scalar >

typedef ResidualModelAbstractTpl<Scalar> Base

Definition at line 46 of file frame-placement.hpp.

◆ Data

template<typename _Scalar >

typedef ResidualDataFramePlacementTpl<Scalar> Data

Definition at line 47 of file frame-placement.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 48 of file frame-placement.hpp.

◆ ResidualDataAbstract

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

Definition at line 49 of file frame-placement.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 50 of file frame-placement.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 51 of file frame-placement.hpp.

◆ SE3

template<typename _Scalar >

typedef pinocchio::SE3Tpl<Scalar> SE3

Definition at line 52 of file frame-placement.hpp.

Constructor & Destructor Documentation

◆ ResidualModelFramePlacementTpl() [1/2]

template<typename _Scalar >

ResidualModelFramePlacementTpl	(	std::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]

template<typename _Scalar >

ResidualModelFramePlacementTpl	(	std::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()

template<typename _Scalar >

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calcDiff()

template<typename _Scalar >

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< ResidualDataAbstract > createData ( DataCollectorAbstract *const data )

virtual

Create the frame placement residual data.

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ print()

template<typename _Scalar >

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

virtual

Print relevant information of the frame-placement residual.

Parameters

[out] os Output stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 44 of file frame-placement.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Control dimension.

Definition at line 227 of file residual-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateAbstract> state_

protected

State description.

Definition at line 225 of file residual-base.hpp.

◆ u_dependent_

template<typename _Scalar >

bool u_dependent_

protected

Label that indicates if the residual function depends on u

Definition at line 233 of file residual-base.hpp.

◆ v_dependent_

template<typename _Scalar >

bool v_dependent_

protected

Label that indicates if the residual function depends on v

Definition at line 231 of file residual-base.hpp.

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/frame-placement.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ StateMultibody

◆ ResidualDataAbstract

◆ DataCollectorAbstract

◆ VectorXs

◆ SE3

Constructor & Destructor Documentation

◆ ResidualModelFramePlacementTpl() [1/2]

◆ ResidualModelFramePlacementTpl() [2/2]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ print()

Member Data Documentation

◆ Scalar

◆ nu_

◆ state_

◆ u_dependent_

◆ v_dependent_