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

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

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

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

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.

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

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

virtual void	calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the derivatives of the joint-effort residual.

virtual std::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.

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

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)

	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.

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.

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.

bool	q_dependent_

std::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_

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::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.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 41 of file joint-effort.hpp.

◆ Base

template<typename _Scalar >

typedef ResidualModelAbstractTpl<Scalar> Base

Definition at line 42 of file joint-effort.hpp.

◆ Data

template<typename _Scalar >

typedef ResidualDataJointEffortTpl<Scalar> Data

Definition at line 43 of file joint-effort.hpp.

◆ ResidualDataAbstract

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

Definition at line 44 of file joint-effort.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 45 of file joint-effort.hpp.

◆ StateAbstract

template<typename _Scalar >

typedef StateAbstractTpl<Scalar> StateAbstract

Definition at line 46 of file joint-effort.hpp.

◆ ActuationModelAbstract

template<typename _Scalar >

typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract

Definition at line 47 of file joint-effort.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 48 of file joint-effort.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 49 of file joint-effort.hpp.

Constructor & Destructor Documentation

◆ ResidualModelJointEffortTpl() [1/4]

template<typename _Scalar >

ResidualModelJointEffortTpl	(	std::shared_ptr< StateAbstract >	state,
		std::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]

template<typename _Scalar >

ResidualModelJointEffortTpl	(	std::shared_ptr< StateAbstract >	state,
		std::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]

template<typename _Scalar >

ResidualModelJointEffortTpl	(	std::shared_ptr< StateAbstract >	state,
		std::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]

template<typename _Scalar >

ResidualModelJointEffortTpl	(	std::shared_ptr< StateAbstract >	state,
		std::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]

template<typename _Scalar >

virtual void calc	(	const std::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]

template<typename _Scalar >

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

virtual

Compute the residual vector for nodes that depends only on the state.

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]

template<typename _Scalar >

virtual void calcDiff	(	const std::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]

template<typename _Scalar >

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

virtual

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< ResidualDataAbstract > createData ( DataCollectorAbstract *const data )

virtual

Create the joint-effort residual data.

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ print()

template<typename _Scalar >

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

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 40 of file joint-effort.hpp.

◆ nr_

template<typename _Scalar >

std::size_t nr_

protected

Residual vector dimension.

Definition at line 226 of file residual-base.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Control dimension.

Definition at line 227 of file residual-base.hpp.

◆ q_dependent_

template<typename _Scalar >

bool q_dependent_

protected

Label that indicates if the residual function depends on q

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

◆ state_

template<typename _Scalar >

std::shared_ptr<StateAbstract> state_

protected

State description.

Definition at line 225 of file residual-base.hpp.

◆ v_dependent_

template<typename _Scalar >

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

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ ResidualDataAbstract

◆ DataCollectorAbstract

◆ StateAbstract

◆ ActuationModelAbstract

◆ VectorXs

◆ MatrixXs

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]

◆ createData()

◆ print()

Member Data Documentation

◆ Scalar

◆ nr_

◆ nu_

◆ q_dependent_

◆ state_

◆ v_dependent_