sobec::ResidualModelFeetCollisionTpl< _Scalar > Class Template Reference
Cost penalizing distance between two frames r=||f1.translation-f2.translation||. More...
#include <sobec/crocomplements/residual-feet-collision.hpp>
Inheritance diagram for sobec::ResidualModelFeetCollisionTpl< _Scalar >:
Collaboration diagram for sobec::ResidualModelFeetCollisionTpl< _Scalar >:
Public Types | |
| typedef MathBaseTpl< Scalar > | MathBase |
| typedef ResidualModelAbstractTpl< Scalar > | Base |
| typedef ResidualDataFeetCollisionTpl< Scalar > | Data |
| typedef StateMultibodyTpl< Scalar > | StateMultibody |
| typedef ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
| typedef DataCollectorAbstractTpl< Scalar > | DataCollectorAbstract |
| typedef MathBase::VectorXs | VectorXs |
Public Member Functions | |
| ResidualModelFeetCollisionTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex frame_id1, const pinocchio::FrameIndex frame_id2, const std::size_t nu) | |
| Initialize the residual model. More... | |
| ResidualModelFeetCollisionTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex frame_id1, const pinocchio::FrameIndex frame_id2) | |
| Initialize the residual model. More... | |
| virtual | ~ResidualModelFeetCollisionTpl () |
| 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_id1 () const |
| Return the first frame index in the collision pair. More... | |
| const pinocchio::FrameIndex & | get_frame_id2 () const |
| Return the second frame index in the collision pair. More... | |
| void | set_frame_id1 (const pinocchio::FrameIndex &fid1) |
| Set the first frame index in the collision pair. More... | |
| void | set_frame_id2 (const pinocchio::FrameIndex &fid2) |
| Set the second frame index in the collision pair. More... | |
Public Attributes | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Detailed Description
template<typename _Scalar>
class sobec::ResidualModelFeetCollisionTpl< _Scalar >
Cost penalizing distance between two frames r=||f1.translation-f2.translation||.
- See also
ResidualModelAbstractTpl,calc(),calcDiff(),createData()
Member Typedef Documentation
◆ Base
template<typename _Scalar >
| typedef ResidualModelAbstractTpl<Scalar> sobec::ResidualModelFeetCollisionTpl< _Scalar >::Base |
◆ Data
template<typename _Scalar >
| typedef ResidualDataFeetCollisionTpl<Scalar> sobec::ResidualModelFeetCollisionTpl< _Scalar >::Data |
◆ DataCollectorAbstract
template<typename _Scalar >
| typedef DataCollectorAbstractTpl<Scalar> sobec::ResidualModelFeetCollisionTpl< _Scalar >::DataCollectorAbstract |
◆ MathBase
template<typename _Scalar >
| typedef MathBaseTpl<Scalar> sobec::ResidualModelFeetCollisionTpl< _Scalar >::MathBase |
◆ ResidualDataAbstract
template<typename _Scalar >
| typedef ResidualDataAbstractTpl<Scalar> sobec::ResidualModelFeetCollisionTpl< _Scalar >::ResidualDataAbstract |
◆ StateMultibody
template<typename _Scalar >
| typedef StateMultibodyTpl<Scalar> sobec::ResidualModelFeetCollisionTpl< _Scalar >::StateMultibody |
◆ VectorXs
template<typename _Scalar >
| typedef MathBase::VectorXs sobec::ResidualModelFeetCollisionTpl< _Scalar >::VectorXs |
Constructor & Destructor Documentation
◆ ResidualModelFeetCollisionTpl() [1/2]
template<typename Scalar >
| sobec::ResidualModelFeetCollisionTpl< Scalar >::ResidualModelFeetCollisionTpl | ( | boost::shared_ptr< StateMultibody > | state, |
| const pinocchio::FrameIndex | frame_id1, | ||
| const pinocchio::FrameIndex | frame_id2, | ||
| const std::size_t | nu | ||
| ) |
Initialize the residual model.
- Parameters
-
[in] state State of the multibody system [in] frame_id1 ID of the first frame in the collision pair [in] frame_id2 ID of the second frame in the collision pair and velocity [in] nu Dimension of the control vector
◆ ResidualModelFeetCollisionTpl() [2/2]
template<typename Scalar >
| sobec::ResidualModelFeetCollisionTpl< Scalar >::ResidualModelFeetCollisionTpl | ( | boost::shared_ptr< StateMultibody > | state, |
| const pinocchio::FrameIndex | frame_id1, | ||
| const pinocchio::FrameIndex | frame_id2 | ||
| ) |
Initialize the residual model.
The default nu value is obtained from StateAbstractTpl::get_nv().
- Parameters
-
[in] state State of the multibody system [in] frame_id1 ID of the first frame in the collision pair [in] frame_id2 ID of the second frame in the collision pair
◆ ~ResidualModelFeetCollisionTpl()
template<typename Scalar >
|
virtual |
Member Function Documentation
◆ calc()
template<typename Scalar >
|
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 >
|
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 >
|
virtual |
◆ get_frame_id1()
template<typename Scalar >
| const pinocchio::FrameIndex & sobec::ResidualModelFeetCollisionTpl< Scalar >::get_frame_id1 |
Return the first frame index in the collision pair.
◆ get_frame_id2()
template<typename Scalar >
| const pinocchio::FrameIndex & sobec::ResidualModelFeetCollisionTpl< Scalar >::get_frame_id2 |
Return the second frame index in the collision pair.
◆ set_frame_id1()
template<typename Scalar >
| void sobec::ResidualModelFeetCollisionTpl< Scalar >::set_frame_id1 | ( | const pinocchio::FrameIndex & | fid1 | ) |
Set the first frame index in the collision pair.
◆ set_frame_id2()
template<typename Scalar >
| void sobec::ResidualModelFeetCollisionTpl< Scalar >::set_frame_id2 | ( | const pinocchio::FrameIndex & | fid2 | ) |
Set the second frame index in the collision pair.
Member Data Documentation
◆ Scalar
template<typename _Scalar >
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar sobec::ResidualModelFeetCollisionTpl< _Scalar >::Scalar |
The documentation for this class was generated from the following files:
- include/sobec/crocomplements/residual-feet-collision.hpp
- include/sobec/crocomplements/residual-feet-collision.hxx
