Frame velocity residual. More...

#include <frame-velocity.hpp>

Inheritance diagram for ResidualModelFrameVelocityTpl< _Scalar >:

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base

typedef ResidualDataFrameVelocityTpl< Scalar >	Data

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef pinocchio::MotionTpl< Scalar >	Motion

typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract

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
	ResidualModelFrameVelocityTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Motion &velocity, const pinocchio::ReferenceFrame type)
	Initialize the frame velocity residual model. More...

	ResidualModelFrameVelocityTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Motion &velocity, const pinocchio::ReferenceFrame type, const std::size_t nu)
	Initialize the frame velocity residual model. More...

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

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

virtual std::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the frame velocity residual data.

pinocchio::FrameIndex	get_id () const
	Return the reference frame id.

const Motion &	get_reference () const
	Return the reference velocity.

pinocchio::ReferenceFrame	get_type () const
	Return the reference type of velocity.

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

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

void	set_reference (const Motion &velocity)
	Modify reference velocity.

void	set_type (const pinocchio::ReferenceFrame type)
	Modify reference type of velocity.

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)
	Initialize the residual model. More...

	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. More...

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. More...

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. More...

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. 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 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	nr_
	Residual vector dimension.

std::size_t	nu_
	Control dimension.

std::shared_ptr< StateAbstract >	state_
	State description.

bool	u_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::ResidualModelFrameVelocityTpl< _Scalar >

Frame velocity residual.

This residual function defines a tracking of frame velocity as \(\mathbf{r}=\mathbf{v}-\mathbf{v}^*\), where \(\mathbf{v},\mathbf{v}^*\in~T_{\mathbf{p}}~\mathbb{SE(3)}\) are the current and reference frame velocities, respectively. Note that the tangent vector is described by the frame placement \(\mathbf{p}\), and the dimension of the residual vector is 6. Furthermore, the Jacobians of the residual function are computed analytically.

As described in ResidualModelAbstractTpl, the residual vector and its Jacobians are calculated by calc and calcDiff, respectively.

See also: ResidualModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 40 of file frame-velocity.hpp.

Constructor & Destructor Documentation

◆ ResidualModelFrameVelocityTpl() [1/2]

ResidualModelFrameVelocityTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Motion &	velocity,
		const pinocchio::ReferenceFrame	type,
		const std::size_t	nu
	)

Initialize the frame velocity residual model.

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id
[in]	velocity	Reference velocity
[in]	type	Reference type of velocity (WORLD, LOCAL, LOCAL_WORLD_ALIGNED)
[in]	nu	Dimension of the control vector

◆ ResidualModelFrameVelocityTpl() [2/2]

ResidualModelFrameVelocityTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Motion &	velocity,
		const pinocchio::ReferenceFrame	type
	)

Initialize the frame velocity residual model.

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

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id
[in]	velocity	Reference velocity
[in]	type	Reference type of velocity (WORLD, LOCAL, LOCAL_WORLD_ALIGNED)

Member Function Documentation

◆ calc()

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 velocity residual vector.

Parameters

[in]	data	Frame velocity 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()

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

virtual

Compute the Jacobians of the frame velocity residual.

Parameters

[in]	data	Frame velocity 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 >.

◆ print()

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

virtual

Print relevant information of the frame-velocity residual.

Parameters

[out] os Output stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ u_dependent_

bool u_dependent_

protected

Label that indicates if the residual function depends on u

Definition at line 233 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-velocity.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ ResidualModelFrameVelocityTpl() [1/2]

◆ ResidualModelFrameVelocityTpl() [2/2]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ print()

Member Data Documentation

◆ u_dependent_

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