ResidualModelFrameVelocityTpl< _Scalar > Class Template Reference

Frame velocity residual. More...

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

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 Member Functions
	ResidualModelFrameVelocityTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Motion &velocity, const pinocchio::ReferenceFrame type)
	Initialize the frame velocity residual model. More...
	ResidualModelFrameVelocityTpl (boost::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 boost::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 boost::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 boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the frame velocity residual data.
pinocchio::FrameIndex	get_id () const
	Modify the reference frame id.
const Motion &	get_reference () const
	Modify the reference velocity.
pinocchio::ReferenceFrame	get_type () const
	Modify 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)
	Return reference frame id.
void	set_reference (const Motion &velocity)
	Return reference velocity.
void	set_type (const pinocchio::ReferenceFrame type)
	Return reference type of velocity.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::size_t	nr_
	Residual vector dimension.
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.

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 147 of file fwd.hpp.

Constructor & Destructor Documentation

ResidualModelFrameVelocityTpl() [1/2]

ResidualModelFrameVelocityTpl	(	boost::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	(	boost::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 boost::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 \(\mathbf{u}\in\mathbb{R}^{nu}\)

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 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 \(\mathbf{u}\in\mathbb{R}^{nu}\)

print()

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

virtual

Print relevant information of the frame-velocity 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-velocity.hpp