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| ResidualModelFrameTranslationTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector3s &xref) |
| Initialize the frame translation residual model. More...
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| ResidualModelFrameTranslationTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex, const Vector3s &xref, const std::size_t nu) |
| Initialize the frame translation residual model. More...
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virtual void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the frame translation residual. More...
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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 translation residual. More...
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virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
| Create the frame translation residual data.
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pinocchio::FrameIndex | get_id () const |
| Return the reference frame id.
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const Vector3s & | get_reference () const |
| Return the reference frame translation.
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virtual void | print (std::ostream &os) const |
| Print relevant information of the frame-translation residual. More...
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void | set_id (const pinocchio::FrameIndex id) |
| Modify the reference frame id.
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void | set_reference (const Vector3s &reference) |
| Modify the reference frame translation reference.
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template<typename _Scalar>
class crocoddyl::ResidualModelFrameTranslationTpl< _Scalar >
Frame translation residual.
This residual function defines the tracking of a frame translation as \(\mathbf{r}=\mathbf{t}-\mathbf{t}^*\), where \(\mathbf{t},\mathbf{t}^*\in~\mathbb{R}^3\) are the current and reference frame translations, respectively. Note that the dimension of the residual vector is 3. 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 142 of file fwd.hpp.