State residual. More...

#include <state.hpp>

Inheritance diagram for ResidualModelStateTpl< _Scalar >:

Public Types
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract

typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract

typedef ResidualModelAbstractTpl< Scalar >	Base

typedef CostDataAbstractTpl< Scalar >	CostDataAbstract

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 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
	ResidualModelStateTpl (std::shared_ptr< typename Base::StateAbstract > state)
	Initialize the state residual model.

	ResidualModelStateTpl (std::shared_ptr< typename Base::StateAbstract > state, const std::size_t nu)
	Initialize the state residual model.

	ResidualModelStateTpl (std::shared_ptr< typename Base::StateAbstract > state, const VectorXs &xref)
	Initialize the state residual model.

	ResidualModelStateTpl (std::shared_ptr< typename Base::StateAbstract > state, const VectorXs &xref, const std::size_t nu)
	Initialize the state residual model.

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

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 state-cost function and store it in cost data.

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

const VectorXs &	get_reference () const
	Return the reference state.

virtual void	print (std::ostream &os) const
	Print relevant information of the state residual.

void	set_reference (const VectorXs &reference)
	Modify the reference state.

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	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	calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the Jacobian of the residual functions with respect to the state only.

virtual std::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the residual data.

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.

std::shared_ptr< StateAbstract >	state_
	State description.

bool	u_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::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 38 of file state.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 43 of file state.hpp.

◆ Base

template<typename _Scalar >

typedef ResidualModelAbstractTpl<Scalar> Base

Definition at line 44 of file state.hpp.

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 45 of file state.hpp.

◆ ActivationModelAbstract

template<typename _Scalar >

typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract

Definition at line 46 of file state.hpp.

◆ ResidualDataAbstract

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

Definition at line 47 of file state.hpp.

◆ ActivationDataAbstract

template<typename _Scalar >

typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

Definition at line 48 of file state.hpp.

◆ CostDataAbstract

template<typename _Scalar >

typedef CostDataAbstractTpl<Scalar> CostDataAbstract

Definition at line 49 of file state.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 50 of file state.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 51 of file state.hpp.

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs MatrixXs

Definition at line 52 of file state.hpp.

Constructor & Destructor Documentation

◆ ResidualModelStateTpl() [1/4]

template<typename _Scalar >

ResidualModelStateTpl	(	std::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]

template<typename _Scalar >

ResidualModelStateTpl	(	std::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]

template<typename _Scalar >

ResidualModelStateTpl	(	std::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]

template<typename _Scalar >

ResidualModelStateTpl ( std::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()

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 state residual.

Parameters

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calcDiff()

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 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 \(\mathbf{u}\in\mathbb{R}^{nu}\)

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calcCostDiff()

template<typename _Scalar >

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`
	)

virtual

Compute the derivative of the state-cost function and store it in cost data.

This function assumes that the derivatives of the activation and residual are computed via calcDiff functions.

Parameters

cdata	Cost data
rdata	Residual data
adata	Activation data
update_u	Update the derivative of the cost function w.r.t. to the control if True.

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ print()

template<typename _Scalar >

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

virtual

Print relevant information of the state 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 42 of file state.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.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateAbstract> state_

protected

State description.

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

◆ u_dependent_

template<typename _Scalar >

bool u_dependent_

protected

Label that indicates if the residual function depends on u

Definition at line 233 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/multibody/fwd.hpp
/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/multibody/residuals/state.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ StateMultibody

◆ ActivationModelAbstract

◆ ResidualDataAbstract

◆ ActivationDataAbstract

◆ CostDataAbstract

◆ DataCollectorAbstract

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ResidualModelStateTpl() [1/4]

◆ ResidualModelStateTpl() [2/4]

◆ ResidualModelStateTpl() [3/4]

◆ ResidualModelStateTpl() [4/4]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ calcCostDiff()

◆ print()

Member Data Documentation

◆ Scalar

◆ nr_

◆ nu_

◆ state_

◆ u_dependent_