Cost penalizing high horizontal velocity near zero altitude. More...

#include <sobec/crocomplements/residual-fly-angle.hpp>

Inheritance diagram for sobec::ResidualModelFlyAngleTpl< _Scalar >:

Collaboration diagram for sobec::ResidualModelFlyAngleTpl< _Scalar >:

Public Types
typedef MathBaseTpl< Scalar >	MathBase

typedef ResidualModelAbstractTpl< Scalar >	Base

typedef ResidualDataFlyAngleTpl< Scalar >	Data

typedef StateMultibodyTpl< Scalar >	StateMultibody

typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBase::Vector3s	Vector3s

typedef MathBase::VectorXs	VectorXs

typedef MathBase::MatrixXs	MatrixXs

typedef MathBase::Matrix3s	Matrix3s

Public Member Functions
	ResidualModelFlyAngleTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex frame_id, const Scalar slope, const Scalar height, const Scalar dist, const Scalar width, const std::size_t nu)
	Initialize the residual model. More...

	ResidualModelFlyAngleTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex frame_id, const Scalar slope, const Scalar height, const Scalar dist, const Scalar width)
	Initialize the residual model. More...

virtual	~ResidualModelFlyAngleTpl ()

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...

const Scalar	getSlope () const

void	setSlope (const Scalar s)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Detailed Description

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

Cost penalizing high horizontal velocity near zero altitude.

The cost is r(q,v) = v_foot[:2] / exp(slope*z_foot) with v_foot = J_foot(q) vq the local-world-aligned linear velocity of the considered frame velocity and z_foot(q) the altitude oMfoot[frameId].translation[2] of the considered frame wrt world.

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

Member Typedef Documentation

◆ Base

template<typename _Scalar >

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

◆ Data

template<typename _Scalar >

typedef ResidualDataFlyAngleTpl<Scalar> sobec::ResidualModelFlyAngleTpl< _Scalar >::Data

◆ DataCollectorAbstract

template<typename _Scalar >

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

◆ MathBase

template<typename _Scalar >

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

◆ Matrix3s

template<typename _Scalar >

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

◆ MatrixXs

template<typename _Scalar >

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

◆ ResidualDataAbstract

template<typename _Scalar >

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

◆ StateMultibody

template<typename _Scalar >

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

◆ Vector3s

template<typename _Scalar >

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

◆ VectorXs

template<typename _Scalar >

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

Constructor & Destructor Documentation

◆ ResidualModelFlyAngleTpl() [1/2]

template<typename Scalar >

sobec::ResidualModelFlyAngleTpl< Scalar >::ResidualModelFlyAngleTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	frame_id,
		const Scalar	slope,
		const Scalar	height,
		const Scalar	dist,
		const Scalar	width,
		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

◆ ResidualModelFlyAngleTpl() [2/2]

template<typename Scalar >

sobec::ResidualModelFlyAngleTpl< Scalar >::ResidualModelFlyAngleTpl	(	boost::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	frame_id,
		const Scalar	slope,
		const Scalar	height,
		const Scalar	dist,
		const Scalar	width
	)

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.

◆ ~ResidualModelFlyAngleTpl()

template<typename Scalar >

sobec::ResidualModelFlyAngleTpl< Scalar >::~ResidualModelFlyAngleTpl

virtual

Member Function Documentation

◆ calc()

template<typename Scalar >

void sobec::ResidualModelFlyAngleTpl< 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::ResidualModelFlyAngleTpl< 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::ResidualModelFlyAngleTpl< Scalar >::createData ( DataCollectorAbstract *const data )

virtual

◆ get_frame_id()

template<typename Scalar >

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

Return the frame index.

◆ getSlope()

template<typename _Scalar >

const Scalar sobec::ResidualModelFlyAngleTpl< _Scalar >::getSlope ( ) const

inline

◆ set_frame_id()

template<typename Scalar >

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

Modify the frame index.

◆ setSlope()

template<typename _Scalar >

void sobec::ResidualModelFlyAngleTpl< _Scalar >::setSlope ( const Scalar s )

inline

Member Data Documentation

◆ Scalar

template<typename _Scalar >

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

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

include/sobec/crocomplements/residual-fly-angle.hpp
include/sobec/crocomplements/residual-fly-angle.hxx

Public Types

Public Member Functions

Public Attributes

Detailed Description

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

Member Typedef Documentation

◆ Base

◆ Data

◆ DataCollectorAbstract

◆ MathBase

◆ Matrix3s

◆ MatrixXs

◆ ResidualDataAbstract

◆ StateMultibody

◆ Vector3s

◆ VectorXs

Constructor & Destructor Documentation

◆ ResidualModelFlyAngleTpl() [1/2]

◆ ResidualModelFlyAngleTpl() [2/2]

◆ ~ResidualModelFlyAngleTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ get_frame_id()

◆ getSlope()

◆ set_frame_id()

◆ setSlope()

Member Data Documentation

◆ Scalar

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