Public Types | Public Member Functions | Public Attributes | Protected Attributes | List of all members
sobec::IntegratedActionModelLPFTpl< _Scalar > Class Template Reference

#include <sobec/crocomplements/lowpassfilter/action.hpp>

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Public Types

typedef MathBaseTpl< Scalar > MathBase
 
typedef ActionModelAbstractTpl< Scalar > Base
 
typedef IntegratedActionDataLPFTpl< Scalar > Data
 
typedef ActionDataAbstractTpl< Scalar > ActionDataAbstract
 
typedef DifferentialActionModelAbstractTpl< Scalar > DifferentialActionModelAbstract
 
typedef MathBase::VectorXs VectorXs
 
typedef MathBase::MatrixXs MatrixXs
 
typedef StateLPFTpl< Scalar > StateLPF
 
typedef StateMultibodyTpl< Scalar > StateMultibody
 
typedef pinocchio::ModelTpl< Scalar > PinocchioModel
 
typedef ActivationModelQuadraticBarrierTpl< Scalar > ActivationModelQuadraticBarrier
 
typedef ActivationBoundsTpl< Scalar > ActivationBounds
 

Public Member Functions

 IntegratedActionModelLPFTpl (boost::shared_ptr< DifferentialActionModelAbstract > model, std::vector< std::string > lpf_joint_names={}, const Scalar &time_step=Scalar(1e-3), const bool &with_cost_residual=true, const Scalar &fc=0, const bool &tau_plus_integration=true, const int &filter=0)
 
virtual ~IntegratedActionModelLPFTpl ()
 
virtual void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &y, const Eigen::Ref< const VectorXs > &w)
 
virtual void calc (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &y)
 
virtual void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &y, const Eigen::Ref< const VectorXs > &w)
 
virtual void calcDiff (const boost::shared_ptr< ActionDataAbstract > &data, const Eigen::Ref< const VectorXs > &y)
 
virtual boost::shared_ptr< ActionDataAbstract > createData ()
 
virtual bool checkData (const boost::shared_ptr< ActionDataAbstract > &data)
 
virtual void quasiStatic (const boost::shared_ptr< ActionDataAbstract > &data, Eigen::Ref< VectorXs > u, const Eigen::Ref< const VectorXs > &x, const std::size_t maxiter=100, const Scalar tol=Scalar(1e-9))
 
const boost::shared_ptr< DifferentialActionModelAbstract > & get_differential () const
 
const Scalar & get_dt () const
 
const Scalar & get_fc () const
 
const Scalar & get_alpha () const
 
const std::size_t & get_nw () const
 
const std::size_t & get_ntau () const
 
const std::size_t & get_ny () const
 
const std::vector< std::string > & get_lpf_joint_names () const
 
const std::vector< int > & get_lpf_torque_ids () const
 
const std::vector< int > & get_non_lpf_torque_ids () const
 
void set_dt (const Scalar &dt)
 
void set_fc (const Scalar &fc)
 
void set_alpha (const Scalar &alpha)
 
void set_differential (boost::shared_ptr< DifferentialActionModelAbstract > model)
 
void set_control_reg_cost (const Scalar &cost_weight_w_reg, const VectorXs &cost_ref_w_reg)
 
void set_control_lim_cost (const Scalar &cost_weight_w_lim)
 
void compute_alpha (const Scalar &fc)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
boost::shared_ptr< ActivationModelQuadraticBarrier > activation_model_tauLim_
 < Model of the state More...
 

Protected Attributes

std::size_t nw_
 < Neutral state More...
 
std::size_t ntau_
 Filtered torque dimension ("lpf" dimension) More...
 
std::size_t ny_
 Augmented state dimension : nq+nv+ntau. More...
 

Member Typedef Documentation

◆ ActionDataAbstract

template<typename _Scalar >
typedef ActionDataAbstractTpl<Scalar> sobec::IntegratedActionModelLPFTpl< _Scalar >::ActionDataAbstract

◆ ActivationBounds

template<typename _Scalar >
typedef ActivationBoundsTpl<Scalar> sobec::IntegratedActionModelLPFTpl< _Scalar >::ActivationBounds

◆ ActivationModelQuadraticBarrier

template<typename _Scalar >
typedef ActivationModelQuadraticBarrierTpl<Scalar> sobec::IntegratedActionModelLPFTpl< _Scalar >::ActivationModelQuadraticBarrier

◆ Base

template<typename _Scalar >
typedef ActionModelAbstractTpl<Scalar> sobec::IntegratedActionModelLPFTpl< _Scalar >::Base

◆ Data

template<typename _Scalar >
typedef IntegratedActionDataLPFTpl<Scalar> sobec::IntegratedActionModelLPFTpl< _Scalar >::Data

◆ DifferentialActionModelAbstract

template<typename _Scalar >
typedef DifferentialActionModelAbstractTpl<Scalar> sobec::IntegratedActionModelLPFTpl< _Scalar >::DifferentialActionModelAbstract

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> sobec::IntegratedActionModelLPFTpl< _Scalar >::MathBase

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs sobec::IntegratedActionModelLPFTpl< _Scalar >::MatrixXs

◆ PinocchioModel

template<typename _Scalar >
typedef pinocchio::ModelTpl<Scalar> sobec::IntegratedActionModelLPFTpl< _Scalar >::PinocchioModel

◆ StateLPF

template<typename _Scalar >
typedef StateLPFTpl<Scalar> sobec::IntegratedActionModelLPFTpl< _Scalar >::StateLPF

◆ StateMultibody

template<typename _Scalar >
typedef StateMultibodyTpl<Scalar> sobec::IntegratedActionModelLPFTpl< _Scalar >::StateMultibody

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs sobec::IntegratedActionModelLPFTpl< _Scalar >::VectorXs

Constructor & Destructor Documentation

◆ IntegratedActionModelLPFTpl()

template<typename Scalar >
sobec::IntegratedActionModelLPFTpl< Scalar >::IntegratedActionModelLPFTpl ( boost::shared_ptr< DifferentialActionModelAbstract >  model,
std::vector< std::string >  lpf_joint_names = {},
const Scalar &  time_step = Scalar(1e-3),
const bool &  with_cost_residual = true,
const Scalar &  fc = 0,
const bool &  tau_plus_integration = true,
const int &  filter = 0 
)

◆ ~IntegratedActionModelLPFTpl()

template<typename Scalar >
sobec::IntegratedActionModelLPFTpl< Scalar >::~IntegratedActionModelLPFTpl
virtual

Member Function Documentation

◆ calc() [1/2]

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::calc ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  y 
)
virtual

◆ calc() [2/2]

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::calc ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  y,
const Eigen::Ref< const VectorXs > &  w 
)
virtual

◆ calcDiff() [1/2]

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::calcDiff ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  y 
)
virtual

◆ calcDiff() [2/2]

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::calcDiff ( const boost::shared_ptr< ActionDataAbstract > &  data,
const Eigen::Ref< const VectorXs > &  y,
const Eigen::Ref< const VectorXs > &  w 
)
virtual

◆ checkData()

template<typename Scalar >
bool sobec::IntegratedActionModelLPFTpl< Scalar >::checkData ( const boost::shared_ptr< ActionDataAbstract > &  data)
virtual

◆ compute_alpha()

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::compute_alpha ( const Scalar &  fc)

◆ createData()

template<typename Scalar >
boost::shared_ptr< ActionDataAbstractTpl< Scalar > > sobec::IntegratedActionModelLPFTpl< Scalar >::createData
virtual

◆ get_alpha()

template<typename _Scalar >
const Scalar& sobec::IntegratedActionModelLPFTpl< _Scalar >::get_alpha ( ) const
inline

◆ get_differential()

template<typename Scalar >
const boost::shared_ptr< DifferentialActionModelAbstractTpl< Scalar > > & sobec::IntegratedActionModelLPFTpl< Scalar >::get_differential

◆ get_dt()

template<typename Scalar >
const Scalar & sobec::IntegratedActionModelLPFTpl< Scalar >::get_dt

◆ get_fc()

template<typename Scalar >
const Scalar & sobec::IntegratedActionModelLPFTpl< Scalar >::get_fc

◆ get_lpf_joint_names()

template<typename _Scalar >
const std::vector<std::string>& sobec::IntegratedActionModelLPFTpl< _Scalar >::get_lpf_joint_names ( ) const
inline

◆ get_lpf_torque_ids()

template<typename _Scalar >
const std::vector<int>& sobec::IntegratedActionModelLPFTpl< _Scalar >::get_lpf_torque_ids ( ) const
inline

◆ get_non_lpf_torque_ids()

template<typename _Scalar >
const std::vector<int>& sobec::IntegratedActionModelLPFTpl< _Scalar >::get_non_lpf_torque_ids ( ) const
inline

◆ get_ntau()

template<typename _Scalar >
const std::size_t& sobec::IntegratedActionModelLPFTpl< _Scalar >::get_ntau ( ) const
inline

◆ get_nw()

template<typename _Scalar >
const std::size_t& sobec::IntegratedActionModelLPFTpl< _Scalar >::get_nw ( ) const
inline

◆ get_ny()

template<typename _Scalar >
const std::size_t& sobec::IntegratedActionModelLPFTpl< _Scalar >::get_ny ( ) const
inline

◆ quasiStatic()

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::quasiStatic ( const boost::shared_ptr< ActionDataAbstract > &  data,
Eigen::Ref< VectorXs >  u,
const Eigen::Ref< const VectorXs > &  x,
const std::size_t  maxiter = 100,
const Scalar  tol = Scalar(1e-9) 
)
virtual

◆ set_alpha()

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::set_alpha ( const Scalar &  alpha)

◆ set_control_lim_cost()

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::set_control_lim_cost ( const Scalar &  cost_weight_w_lim)

◆ set_control_reg_cost()

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::set_control_reg_cost ( const Scalar &  cost_weight_w_reg,
const VectorXs &  cost_ref_w_reg 
)

◆ set_differential()

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::set_differential ( boost::shared_ptr< DifferentialActionModelAbstract >  model)

◆ set_dt()

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::set_dt ( const Scalar &  dt)

◆ set_fc()

template<typename Scalar >
void sobec::IntegratedActionModelLPFTpl< Scalar >::set_fc ( const Scalar &  fc)

Member Data Documentation

◆ activation_model_tauLim_

template<typename _Scalar >
boost::shared_ptr<ActivationModelQuadraticBarrier> sobec::IntegratedActionModelLPFTpl< _Scalar >::activation_model_tauLim_

< Model of the state

for lim cost

◆ ntau_

template<typename _Scalar >
std::size_t sobec::IntegratedActionModelLPFTpl< _Scalar >::ntau_
protected

Filtered torque dimension ("lpf" dimension)

◆ nw_

template<typename _Scalar >
std::size_t sobec::IntegratedActionModelLPFTpl< _Scalar >::nw_
protected

< Neutral state

Input torque dimension (unfiltered)

◆ ny_

template<typename _Scalar >
std::size_t sobec::IntegratedActionModelLPFTpl< _Scalar >::ny_
protected

Augmented state dimension : nq+nv+ntau.

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar sobec::IntegratedActionModelLPFTpl< _Scalar >::Scalar
The documentation for this class was generated from the following files: