crocoddyl  1.9.0
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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< StateAbstractstate_
 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]stateState of the multibody system
[in]xrefReference state
[in]nuDimension 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]stateState of the multibody system
[in]xrefReference 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]stateState of the multibody system
[in]nuDimension 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]stateState of the multibody system
[in]activationActivation 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]dataState residual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl 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]dataState residual data
[in]xState point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]uControl 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]osOutput stream object

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