Define a contact force residual function. More...
#include <sobec/crocomplements/contact/contact-force.hpp>
Public Types | |
| typedef crocoddyl::MathBaseTpl< Scalar > | MathBase |
| typedef crocoddyl::ResidualModelContactForceTpl< Scalar > | Base |
| typedef crocoddyl::ResidualDataContactForceTpl< Scalar > | Data |
| typedef crocoddyl::StateMultibodyTpl< Scalar > | StateMultibody |
| typedef crocoddyl::ResidualDataAbstractTpl< Scalar > | ResidualDataAbstract |
| typedef pinocchio::ForceTpl< Scalar > | Force |
| typedef MathBase::VectorXs | VectorXs |
| typedef MathBase::MatrixXs | MatrixXs |
Public Member Functions | |
| ResidualModelContactForceTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Force &fref, const std::size_t nc, const std::size_t nu) | |
| Initialize the contact force residual model. More... | |
| ResidualModelContactForceTpl (boost::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Force &fref, const std::size_t nc) | |
| Initialize the contact force residual model. More... | |
| virtual | ~ResidualModelContactForceTpl () |
| virtual void | calc (const boost::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) |
| Compute the contact force 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 contact force residual. More... | |
Public Attributes | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar | Scalar |
Detailed Description
template<typename _Scalar>
class sobec::newcontacts::ResidualModelContactForceTpl< _Scalar >
Define a contact force residual function.
This residual function is defined as \(\mathbf{r}=\boldsymbol{\lambda}-\boldsymbol{\lambda}^*\), where \(\boldsymbol{\lambda}, \boldsymbol{\lambda}^*\) are the current and reference spatial forces, respectively. The current spatial forces \(\boldsymbol{\lambda}\in\mathbb{R}^{nc}\) is computed by DifferentialActionModelContactFwdDynamicsTpl or ActionModelImpulseFwdDynamicTpl, with nc as the dimension of the contact.
Both residual and residual Jacobians are computed analytically, where the force vector \(\boldsymbol{\lambda}\) and its Jacobians \(\left(\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{x}}, \frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{u}}\right)\) are computed by DifferentialActionModelContactFwdDynamicsTpl or ActionModelImpulseFwdDynamicTpl. These values are stored in a shared data (i.e., DataCollectorContactTpl or DataCollectorImpulseTpl). Note that this residual function cannot be used with other action models.
- See also
ResidualModelAbstractTpl,calc(),calcDiff(),createData(),DifferentialActionModelContactFwdDynamicsTpl,ActionModelImpulseFwdDynamicTpl,DataCollectorContactTpl,DataCollectorImpulseTpl
Member Typedef Documentation
◆ Base
| typedef crocoddyl::ResidualModelContactForceTpl<Scalar> sobec::newcontacts::ResidualModelContactForceTpl< _Scalar >::Base |
◆ Data
| typedef crocoddyl::ResidualDataContactForceTpl<Scalar> sobec::newcontacts::ResidualModelContactForceTpl< _Scalar >::Data |
◆ Force
| typedef pinocchio::ForceTpl<Scalar> sobec::newcontacts::ResidualModelContactForceTpl< _Scalar >::Force |
◆ MathBase
| typedef crocoddyl::MathBaseTpl<Scalar> sobec::newcontacts::ResidualModelContactForceTpl< _Scalar >::MathBase |
◆ MatrixXs
| typedef MathBase::MatrixXs sobec::newcontacts::ResidualModelContactForceTpl< _Scalar >::MatrixXs |
◆ ResidualDataAbstract
| typedef crocoddyl::ResidualDataAbstractTpl<Scalar> sobec::newcontacts::ResidualModelContactForceTpl< _Scalar >::ResidualDataAbstract |
◆ StateMultibody
| typedef crocoddyl::StateMultibodyTpl<Scalar> sobec::newcontacts::ResidualModelContactForceTpl< _Scalar >::StateMultibody |
◆ VectorXs
| typedef MathBase::VectorXs sobec::newcontacts::ResidualModelContactForceTpl< _Scalar >::VectorXs |
Constructor & Destructor Documentation
◆ ResidualModelContactForceTpl() [1/2]
| sobec::newcontacts::ResidualModelContactForceTpl< Scalar >::ResidualModelContactForceTpl | ( | boost::shared_ptr< StateMultibody > | state, |
| const pinocchio::FrameIndex | id, | ||
| const Force & | fref, | ||
| const std::size_t | nc, | ||
| const std::size_t | nu | ||
| ) |
Initialize the contact force residual model.
- Parameters
-
[in] state Multibody state [in] id Reference frame id [in] fref Reference spatial contact force in the contact coordinates [in] nc Dimension of the contact force (nc <= 6) [in] nu Dimension of control vector
◆ ResidualModelContactForceTpl() [2/2]
| sobec::newcontacts::ResidualModelContactForceTpl< Scalar >::ResidualModelContactForceTpl | ( | boost::shared_ptr< StateMultibody > | state, |
| const pinocchio::FrameIndex | id, | ||
| const Force & | fref, | ||
| const std::size_t | nc | ||
| ) |
Initialize the contact force residual model.
The default nu is obtained from StateAbstractTpl::get_nv().
- Parameters
-
[in] state Multibody state [in] id Reference frame id [in] fref Reference spatial contact force in the contact coordinates [in] nc Dimension of the contact force (nc <= 6)
◆ ~ResidualModelContactForceTpl()
|
virtual |
Member Function Documentation
◆ calc()
|
virtual |
Compute the contact force residual.
The CoP residual is computed based on the \(\mathbf{A}\) matrix, the force vector is computed by DifferentialActionModelContactFwdDynamicsTpl or ActionModelImpulseFwdDynamicTpl which is stored in DataCollectorContactTpl or DataCollectorImpulseTpl.
- Parameters
-
[in] data Contact force data [in] x State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) [in] u Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)
◆ calcDiff()
|
virtual |
Compute the derivatives of the contact force residual.
The CoP residual is computed based on the \(\mathbf{A}\) matrix, the force vector is computed by DifferentialActionModelContactFwdDynamicsTpl or ActionModelImpulseFwdDynamicTpl which is stored in DataCollectorContactTpl or DataCollectorImpulseTpl.
- Parameters
-
[in] data Contact force data [in] x State point \(\mathbf{x}\in\mathbb{R}^{ndx}\) [in] u Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)
Member Data Documentation
◆ Scalar
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar sobec::newcontacts::ResidualModelContactForceTpl< _Scalar >::Scalar |
The documentation for this class was generated from the following files:
- include/sobec/crocomplements/contact/contact-force.hpp
- include/sobec/crocomplements/contact/contact-force.hxx
