Define a joint-effort residual. More...

#include <joint-effort.hpp>

Inheritance diagram for ResidualModelJointEffortTpl< _Scalar >:

Public Types
typedef ActuationModelAbstractTpl< Scalar >	ActuationModelAbstract

typedef ResidualModelAbstractTpl< Scalar >	Base

typedef ResidualDataJointEffortTpl< Scalar >	Data

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract

typedef StateAbstractTpl< Scalar >	StateAbstract

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
	ResidualModelJointEffortTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActuationModelAbstract > actuation)
	Initialize the joint-effort residual model. More...

	ResidualModelJointEffortTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActuationModelAbstract > actuation, const std::size_t nu)
	Initialize the joint-effort residual model. More...

	ResidualModelJointEffortTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActuationModelAbstract > actuation, const VectorXs &uref)
	Initialize the joint-effort residual model. More...

	ResidualModelJointEffortTpl (boost::shared_ptr< StateAbstract > state, boost::shared_ptr< ActuationModelAbstract > actuation, const VectorXs &uref, const std::size_t nu, const bool fwddyn=false)
	Initialize the joint-effort residual model. More...

virtual void	calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)

virtual void	calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the joint-effort residual. More...

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

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 joint-effort residual. More...

virtual boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the joint-effort residual data.

const VectorXs &	get_reference () const
	Return the reference joint-effort vector.

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

void	set_reference (const VectorXs &reference)
	Modify the reference joint-effort vector.

Public Member Functions inherited from ResidualModelAbstractTpl< _Scalar >
	ResidualModelAbstractTpl (boost::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 (boost::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	calcCostDiff (const boost::shared_ptr< CostDataAbstract > &cdata, const boost::shared_ptr< ResidualDataAbstract > &rdata, const boost::shared_ptr< ActivationDataAbstract > &adata, const bool update_u=true)
	Compute the derivative of the cost function. 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 boost::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.

bool	q_dependent_

boost::shared_ptr< StateAbstract >	state_
	State description.

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_

boost::shared_ptr< StateAbstract >	state_
	State description.

bool	u_dependent_

VectorXs	unone_
	No control vector.

bool	v_dependent_

Detailed Description

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

Define a joint-effort residual.

This residual function is defined as \(\mathbf{r}=\mathbf{u}-\mathbf{u}^*\), where \(\mathbf{u},\mathbf{u}^*\in~\mathbb{R}^{nu}\) are the current and reference joint effort inputs, respectively. Note that the dimension of the residual vector is obtained from ActuationModelAbstract::nu.

Both residual and residual Jacobians 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 36 of file joint-effort.hpp.

Constructor & Destructor Documentation

◆ ResidualModelJointEffortTpl() [1/4]

ResidualModelJointEffortTpl	(	boost::shared_ptr< StateAbstract >	state,
		boost::shared_ptr< ActuationModelAbstract >	actuation,
		const VectorXs &	uref,
		const std::size_t	nu,
		const bool	fwddyn = `false`
	)

Initialize the joint-effort residual model.

Parameters

[in]	state	State description
[in]	actuation	Actuation model
[in]	uref	Reference joint effort
[in]	nu	Dimension of the control vector
[in]	fwddyn	Indicates that we have a forward dynamics problem (true) or inverse dynamics (false) (default false)

◆ ResidualModelJointEffortTpl() [2/4]

ResidualModelJointEffortTpl	(	boost::shared_ptr< StateAbstract >	state,
		boost::shared_ptr< ActuationModelAbstract >	actuation,
		const VectorXs &	uref
	)

Initialize the joint-effort residual model.

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

Parameters

[in]	state	State description
[in]	actuation	Actuation model
[in]	uref	Reference joint effort

◆ ResidualModelJointEffortTpl() [3/4]

ResidualModelJointEffortTpl	(	boost::shared_ptr< StateAbstract >	state,
		boost::shared_ptr< ActuationModelAbstract >	actuation,
		const std::size_t	nu
	)

Initialize the joint-effort residual model.

The default reference joint effort is obtained from MathBaseTpl<>::VectorXs::Zero(actuation->get_nu()).

Parameters

[in]	state	State description
[in]	actuation	Actuation model
[in]	nu	Dimension of the control vector

◆ ResidualModelJointEffortTpl() [4/4]

ResidualModelJointEffortTpl	(	boost::shared_ptr< StateAbstract >	state,
		boost::shared_ptr< ActuationModelAbstract >	actuation
	)

Initialize the joint-effort residual model.

The default reference joint effort is obtained from MathBaseTpl<>::VectorXs::Zero(actuation->get_nu()). The default nu value is obtained from StateAbstractTpl::get_nv().

Parameters

[in]	state	State description
[in]	actuation	Actuation model

Member Function Documentation

◆ calc() [1/2]

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

virtual

Compute the joint-effort residual.

Parameters

[in]	data	Joint-effort 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 >.

◆ calc() [2/2]

virtual void calc	(	const boost::shared_ptr< ResidualDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

It updates the residual vector based on the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Residual data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calcDiff() [1/2]

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 joint-effort residual.

Parameters

[in]	data	Joint-effort 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() [2/2]

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

virtual

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ print()

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

virtual

Print relevant information of the joint-effort residual.

Parameters

[out] os Output stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ q_dependent_

bool q_dependent_

protected

Label that indicates if the residual function depends on q

Definition at line 229 of file residual-base.hpp.

◆ v_dependent_

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/core/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/residuals/joint-effort.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

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

Constructor & Destructor Documentation

◆ ResidualModelJointEffortTpl() [1/4]

◆ ResidualModelJointEffortTpl() [2/4]

◆ ResidualModelJointEffortTpl() [3/4]

◆ ResidualModelJointEffortTpl() [4/4]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ print()

Member Data Documentation

◆ q_dependent_

◆ v_dependent_

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