sobec::ResidualModelCenterOfPressureTpl< _Scalar > Class Template Reference
COP residual. More...
#include <sobec/crocomplements/residual-cop.hpp>
Inheritance diagram for sobec::ResidualModelCenterOfPressureTpl< _Scalar >:
Collaboration diagram for sobec::ResidualModelCenterOfPressureTpl< _Scalar >:
Public Types | |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef ResidualModelAbstractTpl< Scalar > | Base |
| typedef ResidualDataCenterOfPressureTpl< Scalar > | Data |
| typedef ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
| typedef StateMultibodyTpl< Scalar > | StateMultibody |
| typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
| typedef MathBase::VectorXs | VectorXs |
| typedef MathBase::Vector3s | Vector3s |
| typedef MathBase::MatrixXs | MatrixXs |
| typedef pinocchio::ForceTpl< Scalar > | Force |
Public Member Functions | |
| ResidualModelCenterOfPressureTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex contact_id, const std::size_t nu) | |
| Initialize the residual model. More... | |
| virtual | ~ResidualModelCenterOfPressureTpl () |
| virtual void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the cop. 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 residual. More... | |
| virtual boost::shared_ptr< ResidualDataAbstract > | createData (DataCollectorAbstract *const data) |
| pinocchio::FrameIndex | get_contact_id () const |
| Return the reference contact id. More... | |
| void | set_contact_id (const pinocchio::FrameIndex id) |
| Set the reference contact id. More... | |
Public Attributes | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Detailed Description
template<typename _Scalar>
class sobec::ResidualModelCenterOfPressureTpl< _Scalar >
COP residual.
residual = [ tau_y/f_z, -tau_x/fx ]
As described in ResidualModelAbstractTpl(), the residual value and its Jacobians are calculated by calc and calcDiff, respectively.
- See also
ResidualModelAbstractTpl,calc(),calcDiff(),createData()
Member Typedef Documentation
◆ Base
template<typename _Scalar >
| typedef ResidualModelAbstractTpl<Scalar> sobec::ResidualModelCenterOfPressureTpl< _Scalar >::Base |
◆ Data
template<typename _Scalar >
| typedef ResidualDataCenterOfPressureTpl<Scalar> sobec::ResidualModelCenterOfPressureTpl< _Scalar >::Data |
◆ DataCollectorAbstract
template<typename _Scalar >
| typedef DataCollectorAbstractTpl<Scalar> sobec::ResidualModelCenterOfPressureTpl< _Scalar >::DataCollectorAbstract |
◆ Force
template<typename _Scalar >
| typedef pinocchio::ForceTpl<Scalar> sobec::ResidualModelCenterOfPressureTpl< _Scalar >::Force |
◆ MathBase
template<typename _Scalar >
| typedef MathBaseTpl<Scalar> sobec::ResidualModelCenterOfPressureTpl< _Scalar >::MathBase |
◆ MatrixXs
template<typename _Scalar >
| typedef MathBase::MatrixXs sobec::ResidualModelCenterOfPressureTpl< _Scalar >::MatrixXs |
◆ ResidualDataAbstract
template<typename _Scalar >
| typedef ResidualDataAbstractTpl<Scalar> sobec::ResidualModelCenterOfPressureTpl< _Scalar >::ResidualDataAbstract |
◆ StateMultibody
template<typename _Scalar >
| typedef StateMultibodyTpl<Scalar> sobec::ResidualModelCenterOfPressureTpl< _Scalar >::StateMultibody |
◆ Vector3s
template<typename _Scalar >
| typedef MathBase::Vector3s sobec::ResidualModelCenterOfPressureTpl< _Scalar >::Vector3s |
◆ VectorXs
template<typename _Scalar >
| typedef MathBase::VectorXs sobec::ResidualModelCenterOfPressureTpl< _Scalar >::VectorXs |
Constructor & Destructor Documentation
◆ ResidualModelCenterOfPressureTpl()
template<typename Scalar >
| sobec::ResidualModelCenterOfPressureTpl< Scalar >::ResidualModelCenterOfPressureTpl | ( | boost::shared_ptr< StateMultibody > | state, |
| const pinocchio::FrameIndex | contact_id, | ||
| const std::size_t | nu | ||
| ) |
Initialize the residual model.
- Parameters
-
[in] state State of the multibody system [in] nu Dimension of the control vector [in] geom_model Pinocchio geometry model containing the collision pair [in] pair_id Index of the collision pair in the geometry model [in] joint_id Index of the nearest joint on which the collision link is attached
◆ ~ResidualModelCenterOfPressureTpl()
template<typename Scalar >
|
virtual |
Member Function Documentation
◆ calc()
template<typename Scalar >
|
virtual |
Compute the cop.
- Parameters
-
[in] data 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 >
|
virtual |
Compute the derivatives of residual.
- Parameters
-
[in] data 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 >
|
virtual |
◆ get_contact_id()
template<typename _Scalar >
|
inline |
Return the reference contact id.
◆ set_contact_id()
template<typename _Scalar >
|
inline |
Set the reference contact id.
Member Data Documentation
◆ Scalar
template<typename _Scalar >
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar sobec::ResidualModelCenterOfPressureTpl< _Scalar >::Scalar |
The documentation for this class was generated from the following files:
- include/sobec/crocomplements/residual-cop.hpp
- include/sobec/crocomplements/residual-cop.hxx
