Cost penalizing the position of one effector with respect to the other. More...

#include <sobec/crocomplements/residual-2D-surface.hpp>

Inheritance diagram for sobec::ResidualModel2DSurfaceTpl< _Scalar >:

Collaboration diagram for sobec::ResidualModel2DSurfaceTpl< _Scalar >:

Public Types
typedef MathBaseTpl< Scalar >	MathBase

typedef ResidualModelAbstractTpl< Scalar >	Base

typedef ResidualData2DSurfaceTpl< Scalar >	Data

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBase::Vector3s	Vector3s

typedef MathBase::Vector2s	Vector2s

typedef MathBase::VectorXs	VectorXs

typedef MathBase::MatrixXs	MatrixXs

typedef MathBase::Matrix3s	Matrix3s

Public Member Functions
	ResidualModel2DSurfaceTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex frame_id, const Vector2s support_translation, const Scalar separation, const Scalar orientation, const Scalar alpha, const std::size_t nu)
	Initialize the residual model. More...

	ResidualModel2DSurfaceTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex frame_id, const Vector2s support_translation, const Scalar separation, const Scalar orientation, const Scalar alpha)
	Initialize the residual model. More...

virtual	~ResidualModel2DSurfaceTpl ()

virtual void	calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the 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 derivatives of the CoM velocity residual. More...

virtual boost::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data)

const pinocchio::FrameIndex &	get_frame_id () const
	Return the frame index. More...

void	set_frame_id (const pinocchio::FrameIndex &fid)
	Modify the frame index. More...

void	set_Ab (const Vector2s support_translation, const Scalar orientation)
	Modify the matrix A and vector b. More...

const MatrixXs &	get_A () const

const Vector2s &	get_b () const

void	set_A (const MatrixXs &A)

void	set_b (const Vector2s &b)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Detailed Description

template<typename _Scalar>
class sobec::ResidualModel2DSurfaceTpl< _Scalar >

Cost penalizing the position of one effector with respect to the other.

The cost is r(q,v) = A * (pos_2 - pos_1) - c with pos_1, pos_2 (x,y) translations of feet, and A, C matrix and vector transcribing the restricted 2D surface through inequalities

See also: ResidualModelAbstractTpl, calc(), calcDiff(), createData()

Member Typedef Documentation

◆ Base

template<typename _Scalar >

typedef ResidualModelAbstractTpl<Scalar> sobec::ResidualModel2DSurfaceTpl< _Scalar >::Base

◆ Data

template<typename _Scalar >

typedef ResidualData2DSurfaceTpl<Scalar> sobec::ResidualModel2DSurfaceTpl< _Scalar >::Data

◆ DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> sobec::ResidualModel2DSurfaceTpl< _Scalar >::DataCollectorAbstract

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> sobec::ResidualModel2DSurfaceTpl< _Scalar >::MathBase

◆ Matrix3s

template<typename _Scalar >

typedef MathBase::Matrix3s sobec::ResidualModel2DSurfaceTpl< _Scalar >::Matrix3s

◆ MatrixXs

template<typename _Scalar >

typedef MathBase::MatrixXs sobec::ResidualModel2DSurfaceTpl< _Scalar >::MatrixXs

◆ ResidualDataAbstract

template<typename _Scalar >

typedef ResidualDataAbstractTpl<Scalar> sobec::ResidualModel2DSurfaceTpl< _Scalar >::ResidualDataAbstract

◆ StateMultibody

template<typename _Scalar >

typedef StateMultibodyTpl<Scalar> sobec::ResidualModel2DSurfaceTpl< _Scalar >::StateMultibody

◆ Vector2s

template<typename _Scalar >

typedef MathBase::Vector2s sobec::ResidualModel2DSurfaceTpl< _Scalar >::Vector2s

◆ Vector3s

template<typename _Scalar >

typedef MathBase::Vector3s sobec::ResidualModel2DSurfaceTpl< _Scalar >::Vector3s

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs sobec::ResidualModel2DSurfaceTpl< _Scalar >::VectorXs

Constructor & Destructor Documentation

◆ ResidualModel2DSurfaceTpl() [1/2]

template<typename Scalar >

sobec::ResidualModel2DSurfaceTpl< Scalar >::ResidualModel2DSurfaceTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	frame_id,
		const Vector2s	support_translation,
		const Scalar	separation,
		const Scalar	orientation,
		const Scalar	alpha,
		const std::size_t	nu
	)

Initialize the residual model.

Parameters

[in]	state	State of the multibody system
[in]	frame_id	ID of the frame that should be considered for altitude and velocity
[in]	slope	Slope value, ie altitude multiplier.
[in]	nu	Dimension of the control vector

◆ ResidualModel2DSurfaceTpl() [2/2]

template<typename Scalar >

sobec::ResidualModel2DSurfaceTpl< Scalar >::ResidualModel2DSurfaceTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	frame_id,
		const Vector2s	support_translation,
		const Scalar	separation,
		const Scalar	orientation,
		const Scalar	alpha
	)

Initialize the residual model.

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

Parameters

[in]	state	State of the multibody system
[in]	frame_id	ID of the frame that should be considered for altitude and velocity
[in]	slope	Slope value, ie altitude multiplier.

◆ ~ResidualModel2DSurfaceTpl()

template<typename Scalar >

sobec::ResidualModel2DSurfaceTpl< Scalar >::~ResidualModel2DSurfaceTpl

virtual

Member Function Documentation

◆ calc()

template<typename Scalar >

void sobec::ResidualModel2DSurfaceTpl< Scalar >::calc	(	const boost::shared_ptr< ResidualDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

virtual

Compute the residual.

Parameters

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

◆ calcDiff()

template<typename Scalar >

void sobec::ResidualModel2DSurfaceTpl< Scalar >::calcDiff	(	const boost::shared_ptr< ResidualDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

virtual

Compute the derivatives of the CoM velocity residual.

Parameters

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

◆ createData()

template<typename Scalar >

boost::shared_ptr< ResidualDataAbstractTpl< Scalar > > sobec::ResidualModel2DSurfaceTpl< Scalar >::createData ( DataCollectorAbstract *const data )

virtual

◆ get_A()

template<typename _Scalar >

const MatrixXs& sobec::ResidualModel2DSurfaceTpl< _Scalar >::get_A ( ) const

inline

◆ get_b()

template<typename _Scalar >

const Vector2s& sobec::ResidualModel2DSurfaceTpl< _Scalar >::get_b ( ) const

inline

◆ get_frame_id()

template<typename Scalar >

const pinocchio::FrameIndex & sobec::ResidualModel2DSurfaceTpl< Scalar >::get_frame_id

Return the frame index.

◆ set_A()

template<typename _Scalar >

void sobec::ResidualModel2DSurfaceTpl< _Scalar >::set_A ( const MatrixXs & A )

inline

◆ set_Ab()

template<typename Scalar >

void sobec::ResidualModel2DSurfaceTpl< Scalar >::set_Ab	(	const Vector2s	support_translation,
		const Scalar	orientation
	)

Modify the matrix A and vector b.

◆ set_b()

template<typename _Scalar >

void sobec::ResidualModel2DSurfaceTpl< _Scalar >::set_b ( const Vector2s & b )

inline

◆ set_frame_id()

template<typename Scalar >

void sobec::ResidualModel2DSurfaceTpl< Scalar >::set_frame_id ( const pinocchio::FrameIndex & fid )

Modify the frame index.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar sobec::ResidualModel2DSurfaceTpl< _Scalar >::Scalar

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

include/sobec/crocomplements/residual-2D-surface.hpp
include/sobec/crocomplements/residual-2D-surface.hxx

Public Types

Public Member Functions

Public Attributes

Detailed Description

template<typename _Scalar> class sobec::ResidualModel2DSurfaceTpl< _Scalar >

Member Typedef Documentation

◆ Base

◆ Data

◆ DataCollectorAbstract

◆ MathBase

◆ Matrix3s

◆ MatrixXs

◆ ResidualDataAbstract

◆ StateMultibody

◆ Vector2s

◆ Vector3s

◆ VectorXs

Constructor & Destructor Documentation

◆ ResidualModel2DSurfaceTpl() [1/2]

◆ ResidualModel2DSurfaceTpl() [2/2]

◆ ~ResidualModel2DSurfaceTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ get_A()

◆ get_b()

◆ get_frame_id()

◆ set_A()

◆ set_Ab()

◆ set_b()

◆ set_frame_id()

Member Data Documentation

◆ Scalar

template<typename _Scalar>
class sobec::ResidualModel2DSurfaceTpl< _Scalar >