ResidualModelFrameTranslationTpl< _Scalar > Class Template Reference

Frame translation residual. More...

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

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base
typedef ResidualDataFrameTranslationTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef MathBase::Vector3s	Vector3s
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ResidualModelFrameTranslationTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Vector3s &xref)
	Initialize the frame translation residual model. More...
	ResidualModelFrameTranslationTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex, const Vector3s &xref, const std::size_t nu)
	Initialize the frame translation 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 translation 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 translation residual. More...
virtual boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the frame translation residual data.
pinocchio::FrameIndex	get_id () const
	Return the reference frame id.
const Vector3s &	get_reference () const
	Return the reference frame translation.
virtual void	print (std::ostream &os) const
	Print relevant information of the frame-translation residual. More...
void	set_id (const pinocchio::FrameIndex id)
	Modify the reference frame id.
void	set_reference (const Vector3s &reference)
	Modify the reference frame translation reference.

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::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.

Constructor & Destructor Documentation

ResidualModelFrameTranslationTpl() [1/2]

ResidualModelFrameTranslationTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	,
		const Vector3s &	xref,
		const std::size_t	nu
	)

Initialize the frame translation residual model.

Parameters

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

ResidualModelFrameTranslationTpl() [2/2]

ResidualModelFrameTranslationTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Vector3s &	xref
	)

Initialize the frame translation residual model.

The default nu is equals to StateAbstractTpl::get_nv().

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id
[in]	xref	Reference frame translation

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 translation residual.

Parameters

[in]	data	Frame translation 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 translation residual.

Parameters

[in]	data	Frame translation 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-translation 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-translation.hpp