ResidualModelStateTpl< _Scalar > Class Template Reference

State residual. More...

#include <crocoddyl/multibody/residuals/state.hpp>

Public Types
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract
typedef ResidualModelAbstractTpl< Scalar >	Base
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ResidualModelStateTpl (boost::shared_ptr< typename Base::StateAbstract > state)
	Initialize the state residual model. More...
	ResidualModelStateTpl (boost::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu)
	Initialize the state residual model. More...
	ResidualModelStateTpl (boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &xref)
	Initialize the state residual model. More...
	ResidualModelStateTpl (boost::shared_ptr< typename Base::StateAbstract > state, const VectorXs &xref, const std::size_t nu)
	Initialize the state 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 state residual. 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 state residual. More...
const VectorXs &	get_reference () const
	Return the reference state.
virtual void	print (std::ostream &os) const
	Print relevant information of the state residual. More...
void	set_reference (const VectorXs &reference)
	Modify the reference state.

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.
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::ResidualModelStateTpl< _Scalar >

State residual.

This residual function defines the state tracking as \(\mathbf{r}=\mathbf{x}\ominus\mathbf{x}^*\), where \(\mathbf{x},\mathbf{x}^*\in~\mathcal{X}\) are the current and reference states, respectively, which belong to the state manifold \(\mathcal{X}\). Note that the dimension of the residual vector is obtained from StateAbstract::get_ndx(). Furthermore, the Jacobians of the residual function are computed analytically.

As described in ResidualModelAbstractTpl(), the residual value and its derivatives are calculated by calc and calcDiff, respectively.

See also

ResidualModelAbstractTpl, calc(), calcDiff(), createData()

Definition at line 157 of file fwd.hpp.

Constructor & Destructor Documentation

ResidualModelStateTpl() [1/4]

ResidualModelStateTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		const VectorXs &	xref,
		const std::size_t	nu
	)

Initialize the state residual model.

Parameters

[in]	state	State of the multibody system
[in]	xref	Reference state
[in]	nu	Dimension of the control vector

ResidualModelStateTpl() [2/4]

ResidualModelStateTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		const VectorXs &	xref
	)

Initialize the state residual model.

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

Parameters

[in]	state	State of the multibody system
[in]	xref	Reference state

ResidualModelStateTpl() [3/4]

ResidualModelStateTpl	(	boost::shared_ptr< typename Base::StateAbstract >	state,
		const std::size_t	nu
	)

Initialize the state residual model.

The default reference state is obtained from StateAbstractTpl::zero().

Parameters

[in]	state	State of the multibody system
[in]	nu	Dimension of the control vector

ResidualModelStateTpl() [4/4]

ResidualModelStateTpl

(

boost::shared_ptr< typename Base::StateAbstract >

state

)

Initialize the state residual model.

The default state reference is obtained from StateAbstractTpl::zero(), and nu from StateAbstractTpl::get_nv().

Parameters

[in]	state	State of the multibody system
[in]	activation	Activation model

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 state residual.

Parameters

[in]	data	State 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 state residual.

Parameters

[in]	data	State 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 state 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/state.hpp