ResidualModelNumDiffTpl< _Scalar > Class Template Reference

This class computes the numerical differentiation of a residual model. More...

#include <crocoddyl/core/numdiff/residual.hpp>

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base
typedef ResidualDataNumDiffTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBaseTpl< Scalar >::MatrixXs	MatrixXs
typedef boost::function< void(const VectorXs &, const VectorXs &)>	ReevaluationFunction
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef MathBaseTpl< Scalar >::VectorXs	VectorXs

Public Member Functions
	ResidualModelNumDiffTpl (const boost::shared_ptr< Base > &model)
	Initialize the numdiff residual model. More...
virtual	~ResidualModelNumDiffTpl ()
	Initialize the numdiff residual model.
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 residual vector. 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 Jacobian of the residual vector. More...
virtual boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the residual data. More...
const Scalar	get_disturbance () const
	Return the disturbance value used by the numdiff routine.
const boost::shared_ptr< Base > &	get_model () const
	Return the original residual model.
void	set_disturbance (const Scalar disturbance)
	Modify the disturbance value used by the numdiff routine.
void	set_reevals (const std::vector< ReevaluationFunction > &reevals)
	Register functions that updates the shared data computed for a system rollout The updated data is used to evaluate of the gradient and hessian. More...

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.
VectorXs	unone_
	No control vector.

Detailed Description

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

This class computes the numerical differentiation of a residual model.

It computes Jacobian of the residual model via numerical differentiation, i.e., \(\mathbf{R_x}\) and \(\mathbf{R_u}\) which denote the Jacobians of the residual function \(\mathbf{r}(\mathbf{x},\mathbf{u})\).

See also

ResidualModelAbstractTpl(), calcDiff()

Definition at line 230 of file fwd.hpp.

Constructor & Destructor Documentation

ResidualModelNumDiffTpl()

ResidualModelNumDiffTpl ( const boost::shared_ptr< Base > &  model )

explicit

Initialize the numdiff residual model.

Parameters

model

Residual model that we want to apply the numerical differentiation

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 residual vector.

Parameters

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

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 \(\mathbf{x}\in\mathbb{R}^{ndx}\)

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 Jacobian of the residual vector.

It computes the Jacobian the residual function. It assumes that calc() has been run first.

Parameters

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

calcDiff() [2/2]

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

virtual

createData()

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

virtual

Create the residual data.

The default data contains objects to store the values of the residual vector and their Jacobians. However, it is possible to specialized this function if we need to create additional data, for instance, to avoid dynamic memory allocation.

Parameters

data	Data collector

Returns

the residual data

set_reevals()

void set_reevals

(

const std::vector< ReevaluationFunction > &

reevals

)

Register functions that updates the shared data computed for a system rollout The updated data is used to evaluate of the gradient and hessian.

Parameters

reevals

are the registered functions.

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The documentation for this class was generated from the following files:

• include/crocoddyl/core/fwd.hpp
• include/crocoddyl/core/numdiff/residual.hpp