DCM position residual. More...

#include <sobec/crocomplements/residual-dcm-position.hpp>

Inheritance diagram for sobec::ResidualModelDCMPositionTpl< _Scalar >:

Collaboration diagram for sobec::ResidualModelDCMPositionTpl< _Scalar >:

Public Types
typedef MathBaseTpl< Scalar >	MathBase

typedef ResidualModelAbstractTpl< Scalar >	Base

typedef ResidualDataDCMPositionTpl< Scalar >	Data

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ResidualModelDCMPositionTpl (boost::shared_ptr< StateMultibody > state, const Vector3s &cref, const double alpha, const std::size_t nu)
	Initialize the DCM position residual model. More...

	ResidualModelDCMPositionTpl (boost::shared_ptr< StateMultibody > state, const Vector3s &cref, const double alpha)
	Initialize the DCM position residual model. More...

virtual	~ResidualModelDCMPositionTpl ()

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

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

const Vector3s &	get_reference () const
	Return the DCM position reference. More...

void	set_reference (const Vector3s &cref)
	Modify the DCM position reference. More...

virtual void	print (std::ostream &os) const
	Print relevant information of the dcm-position residual. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Detailed Description

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

DCM position residual.

This residual function defines the CoM tracking as \(\mathbf{r}=\mathbf{c}-\mathbf{c}^*\), where \(\mathbf{c},\mathbf{c}^*\in~\mathbb{R}^3\) are the current and reference DCM position, respectively. Note that the dimension of the residual vector is obtained from 3. Furthermore, the Jacobians of the residual function are computed analytically.

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::ResidualModelDCMPositionTpl< _Scalar >::Base

◆ Data

template<typename _Scalar >

typedef ResidualDataDCMPositionTpl<Scalar> sobec::ResidualModelDCMPositionTpl< _Scalar >::Data

◆ DataCollectorAbstract

template<typename _Scalar >

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

◆ MathBase

template<typename _Scalar >

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

◆ ResidualDataAbstract

template<typename _Scalar >

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

◆ StateMultibody

template<typename _Scalar >

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

◆ Vector3s

template<typename _Scalar >

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

◆ VectorXs

template<typename _Scalar >

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

Constructor & Destructor Documentation

◆ ResidualModelDCMPositionTpl() [1/2]

template<typename Scalar >

sobec::ResidualModelDCMPositionTpl< Scalar >::ResidualModelDCMPositionTpl	(	boost::shared_ptr< StateMultibody >	state,
		const Vector3s &	cref,
		const double	alpha,
		const std::size_t	nu
	)

Initialize the DCM position residual model.

Parameters

[in]	state	State of the multibody system
[in]	cref	Reference CoM position
[in]	nu	Dimension of the control vector

◆ ResidualModelDCMPositionTpl() [2/2]

template<typename Scalar >

sobec::ResidualModelDCMPositionTpl< Scalar >::ResidualModelDCMPositionTpl	(	boost::shared_ptr< StateMultibody >	state,
		const Vector3s &	cref,
		const double	alpha
	)

Initialize the DCM position residual model.

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

Parameters

[in]	state	State of the multibody system
[in]	cref	Reference CoM position

◆ ~ResidualModelDCMPositionTpl()

template<typename Scalar >

sobec::ResidualModelDCMPositionTpl< Scalar >::~ResidualModelDCMPositionTpl

virtual

Member Function Documentation

◆ calc()

template<typename Scalar >

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

virtual

Compute the DCM position residual.

Parameters

[in]	data	DCM position 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::ResidualModelDCMPositionTpl< 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 DCM position residual.

Parameters

[in]	data	DCM position 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::ResidualModelDCMPositionTpl< Scalar >::createData ( DataCollectorAbstract *const data )

virtual

◆ get_reference()

template<typename Scalar >

const MathBaseTpl< Scalar >::Vector3s & sobec::ResidualModelDCMPositionTpl< Scalar >::get_reference

Return the DCM position reference.

◆ print()

template<typename Scalar >

void sobec::ResidualModelDCMPositionTpl< Scalar >::print ( std::ostream & os ) const

virtual

Print relevant information of the dcm-position residual.

Parameters

[out] os Output stream object

◆ set_reference()

template<typename Scalar >

void sobec::ResidualModelDCMPositionTpl< Scalar >::set_reference ( const Vector3s & cref )

Modify the DCM position reference.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

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

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

include/sobec/crocomplements/residual-dcm-position.hpp
include/sobec/crocomplements/residual-dcm-position.hxx

Public Types

Public Member Functions

Public Attributes

Detailed Description

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

Member Typedef Documentation

◆ Base

◆ Data

◆ DataCollectorAbstract

◆ MathBase

◆ ResidualDataAbstract

◆ StateMultibody

◆ Vector3s

◆ VectorXs

Constructor & Destructor Documentation

◆ ResidualModelDCMPositionTpl() [1/2]

◆ ResidualModelDCMPositionTpl() [2/2]

◆ ~ResidualModelDCMPositionTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ get_reference()

◆ print()

◆ set_reference()

Member Data Documentation

◆ Scalar

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