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Crocoddyl
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Crocoddyl
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State residual. More...
#include <state.hpp>
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 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 | calcCostDiff (const boost::shared_ptr< CostDataAbstract > &cdata, const boost::shared_ptr< ResidualDataAbstract > &rdata, const boost::shared_ptr< ActivationDataAbstract > &adata, const bool update_u=true) |
| Compute the derivative of the state-cost function and store it in cost data. 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 | nr_ |
| Residual vector dimension. | |
| std::size_t | nu_ |
| Control dimension. | |
| boost::shared_ptr< StateAbstract > | state_ |
| State description. | |
| bool | u_dependent_ |
| VectorXs | unone_ |
| No control vector. | |
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.
ResidualModelAbstractTpl, calc(), calcDiff(), createData() | ResidualModelStateTpl | ( | boost::shared_ptr< typename Base::StateAbstract > | state, |
| const VectorXs & | xref, | ||
| const std::size_t | nu | ||
| ) |
Initialize the state residual model.
| [in] | state | State of the multibody system |
| [in] | xref | Reference state |
| [in] | nu | Dimension of the control vector |
| 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().
| [in] | state | State of the multibody system |
| [in] | xref | Reference state |
| 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().
| [in] | state | State of the multibody system |
| [in] | nu | Dimension of the control vector |
| 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().
| [in] | state | State of the multibody system |
| [in] | activation | Activation model |
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virtual |
Compute the state residual.
| [in] | data | State residual data |
| [in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
| [in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
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virtual |
Compute the Jacobians of the state residual.
| [in] | data | State residual data |
| [in] | x | State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) |
| [in] | u | Control input \(\mathbf{u}\in\mathbb{R}^{nu}\) |
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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.
| 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. |
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virtual |
Print relevant information of the state residual.
| [out] | os | Output stream object |
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protected |
Label that indicates if the residual function depends on u
Definition at line 233 of file residual-base.hpp.
1.8.17