Full actuation model. More...

#include <full.hpp>

Inheritance diagram for ActuationModelFullTpl< _Scalar >:

Public Types
typedef ActuationModelAbstractTpl< Scalar >	Base
typedef ActuationDataAbstractTpl< Scalar >	Data
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef StateAbstractTpl< Scalar >	StateAbstract
typedef MathBase::VectorXs	VectorXs
Public Types inherited from ActuationModelAbstractTpl< _Scalar >
typedef ActuationDataAbstractTpl< Scalar >	ActuationDataAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef StateAbstractTpl< Scalar >	StateAbstract
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ActuationModelFullTpl (std::shared_ptr< StateAbstract > state)
	Initialize the full actuation model.
virtual void	calc (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &u) override
	Compute the full actuation.
virtual void	calcDiff (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &) override
	Compute the Jacobians of the full actuation model.
template<typename NewScalar>
ActuationModelFullTpl< NewScalar >	cast () const
virtual void	commands (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &tau) override
	Compute the joint torque input from the generalized torques.
virtual std::shared_ptr< Data >	createData () override
	Create the full actuation data.
virtual void	print (std::ostream &os) const override
	Print relevant information of the joint-effort residual.
virtual void	torqueTransform (const std::shared_ptr< Data > &data, const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &) override
	Compute the torque transform from generalized torques to joint torque inputs.
Public Member Functions inherited from ActuationModelAbstractTpl< _Scalar >
	ActuationModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nu)
	Initialize the actuation model.
void	calc (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Ignore the computation of the actuation signal.
void	calcDiff (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Ignore the computation of the Jacobians of the actuation function.
std::size_t	get_nu () const
	Return the dimension of the joint-torque input.
const std::shared_ptr< StateAbstract > &	get_state () const
	Return the state.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
Public Attributes inherited from ActuationModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::size_t	nu_
	Dimension of joint torque inputs.
std::shared_ptr< StateAbstract >	state_
	Model of the state.
Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t	nu_
	Dimension of joint torque inputs.
std::shared_ptr< StateAbstract >	state_
	Model of the state.

Detailed Description

template<typename _Scalar>
class crocoddyl::ActuationModelFullTpl< _Scalar >

Full actuation model.

This actuation model applies input controls for all the nv dimensions of the system.

Both actuation and Jacobians are computed analytically by calc and calcDiff, respectively.

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

Definition at line 31 of file full.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 37 of file full.hpp.

◆ Base

template<typename _Scalar>

typedef ActuationModelAbstractTpl<Scalar> Base

Definition at line 38 of file full.hpp.

◆ Data

template<typename _Scalar>

typedef ActuationDataAbstractTpl<Scalar> Data

Definition at line 39 of file full.hpp.

◆ StateAbstract

template<typename _Scalar>

typedef StateAbstractTpl<Scalar> StateAbstract

Definition at line 40 of file full.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 41 of file full.hpp.

◆ MatrixXs

template<typename _Scalar>

typedef MathBase::MatrixXs MatrixXs

Definition at line 42 of file full.hpp.

Constructor & Destructor Documentation

◆ ActuationModelFullTpl()

template<typename _Scalar>

ActuationModelFullTpl ( std::shared_ptr< StateAbstract > state )

inlineexplicit

Initialize the full actuation model.

Parameters

[in] state State of the dynamical system

Definition at line 49 of file full.hpp.

Member Function Documentation

◆ calc()

template<typename _Scalar>

virtual void calc	(	const std::shared_ptr< Data > &	data,
		const Eigen::Ref< const VectorXs > &	,
		const Eigen::Ref< const VectorXs > &	u )

inlineoverridevirtual

Compute the full actuation.

Parameters

[in]	data	Full actuation data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$
[in]	u	Joint torque input $\mathbf{u}\in\mathbb{R}^{nu}$

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 60 of file full.hpp.

◆ calcDiff()

template<typename _Scalar>

virtual void calcDiff	(	const std::shared_ptr< Data > &	data,
		const Eigen::Ref< const VectorXs > &	,
		const Eigen::Ref< const VectorXs > &	)

inlineoverridevirtual

Compute the Jacobians of the full actuation model.

Parameters

[in]	data	Full actuation data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$
[in]	u	Joint torque input $\mathbf{u}\in\mathbb{R}^{nu}$

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 79 of file full.hpp.

◆ commands()

template<typename _Scalar>

virtual void commands	(	const std::shared_ptr< Data > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	tau )

inlineoverridevirtual

Compute the joint torque input from the generalized torques.

It stores the results in ActuationDataAbstractTpl::u.

Parameters

[in]	data	Actuation data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$
[in]	tau	Generalized torques $\mathbf{u}\in\mathbb{R}^{nv}$

Implements ActuationModelAbstractTpl< _Scalar >.

Definition at line 94 of file full.hpp.

◆ torqueTransform()

template<typename _Scalar>

virtual void torqueTransform	(	const std::shared_ptr< Data > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u )

inlineoverridevirtual

Compute the torque transform from generalized torques to joint torque inputs.

It stores the results in ActuationDataAbstractTpl::Mtau.

Parameters

[in]	data	Actuation data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$
[in]	tau	Joint-torque inputs $\mathbf{u}\in\mathbb{R}^{nu}$

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 106 of file full.hpp.

◆ createData()

template<typename _Scalar>

virtual std::shared_ptr< Data > createData ( )

inlineoverridevirtual

Create the full actuation data.

Parameters

[in] data shared data (it should be of type DataCollectorContactTpl)

Returns: the cost data.

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 125 of file full.hpp.

◆ cast()

template<typename _Scalar>

template<typename NewScalar>

ActuationModelFullTpl< NewScalar > cast ( ) const

inline

Definition at line 134 of file full.hpp.

◆ print()

template<typename _Scalar>

virtual void print ( std::ostream & os ) const

inlineoverridevirtual

Print relevant information of the joint-effort residual.

Parameters

[out] os Output stream object

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Definition at line 145 of file full.hpp.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 36 of file full.hpp.

◆ nu_

template<typename _Scalar>

std::size_t nu_

protected

Dimension of joint torque inputs.

Definition at line 173 of file actuation-base.hpp.

◆ state_

template<typename _Scalar>

std::shared_ptr<StateAbstract> state_

protected

Model of the state.

Definition at line 174 of file actuation-base.hpp.

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

/build/source/include/crocoddyl/multibody/actuations/full.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ StateAbstract

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ActuationModelFullTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ commands()

◆ torqueTransform()

◆ createData()

◆ cast()

◆ print()

Member Data Documentation

◆ Scalar

◆ nu_

◆ state_