This class computes the numerical differentiation of an actuation model. More...

#include <actuation.hpp>

Inheritance diagram for ActuationModelNumDiffTpl< _Scalar >:

Public Types
typedef ActuationDataAbstractTpl< Scalar >	ActuationDataAbstract
typedef ActuationModelAbstractTpl< Scalar >	Base
typedef ActuationDataNumDiffTpl< Scalar >	Data
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
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
	ActuationModelNumDiffTpl (std::shared_ptr< Base > model)
	Initialize the numdiff residual model.
virtual	~ActuationModelNumDiffTpl ()=default
	Destroy the numdiff actuation model.
virtual void	calc (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Ignore the computation of the actuation signal.
virtual void	calc (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the actuation signal from the state point $\mathbf{x}\in\mathbb{R}^{ndx}$ and joint torque inputs $\mathbf{u}\in\mathbb{R}^{nu}$ .
virtual void	calcDiff (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
virtual void	calcDiff (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the Jacobians of the actuation function.
template<typename NewScalar>
ActuationModelNumDiffTpl< NewScalar >	cast () const
virtual void	commands (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &tau) override
	Compute the joint torque input from the generalized torques.
virtual std::shared_ptr< ActuationDataAbstract >	createData () override
	Create the actuation data.
const Scalar	get_disturbance () const
	Return the disturbance constant used by the numerical differentiation routine.
const std::shared_ptr< Base > &	get_model () const
	Return the original actuation model.
void	set_disturbance (const Scalar disturbance)
	Modify the disturbance constant used by the numerical differentiation routine.
virtual void	torqueTransform (const std::shared_ptr< ActuationDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) 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.
const VectorXs &	get_u_lb () const
	Return the actuation lower bound.
const VectorXs &	get_u_ub () const
	Return the actuation upper bound.
virtual void	print (std::ostream &os) const
	Print relevant information of the residual model.
void	set_u_lb (const VectorXs &u_lb)
	Modify the actuation lower bounds.
void	set_u_ub (const VectorXs &u_ub)
	Modify the actuation upper bounds.

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.
Protected Attributes inherited from ActuationModelAbstractTpl< _Scalar >
std::size_t	nu_
	Dimension of joint torque inputs.
std::shared_ptr< StateAbstract >	state_
	Model of the state.
VectorXs	u_lb_
	Lower actuation limits.
VectorXs	u_ub_
	Upper actuation limits.

Detailed Description

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

This class computes the numerical differentiation of an actuation model.

It computes the Jacobian of the residual model via numerical differentiation, i.e., $\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{x}}$ and $\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{u}}$ which denote the Jacobians of the actuation function $\boldsymbol{\tau}(\mathbf{x},\mathbf{u})$ .

See also: ActuationModelAbstractTpl(), calcDiff()

Definition at line 31 of file actuation.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 37 of file actuation.hpp.

◆ Base

template<typename _Scalar>

typedef ActuationModelAbstractTpl<Scalar> Base

Definition at line 38 of file actuation.hpp.

◆ Data

template<typename _Scalar>

typedef ActuationDataNumDiffTpl<Scalar> Data

Definition at line 39 of file actuation.hpp.

◆ ActuationDataAbstract

template<typename _Scalar>

typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract

Definition at line 40 of file actuation.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 41 of file actuation.hpp.

◆ MatrixXs

template<typename _Scalar>

typedef MathBase::MatrixXs MatrixXs

Definition at line 42 of file actuation.hpp.

Constructor & Destructor Documentation

◆ ActuationModelNumDiffTpl()

template<typename _Scalar>

ActuationModelNumDiffTpl ( std::shared_ptr< Base > model )

explicit

Initialize the numdiff residual model.

Parameters

model Actuation model that we want to apply the numerical differentiation

Member Function Documentation

◆ calc() [1/2]

template<typename _Scalar>

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

overridevirtual

Compute the actuation signal from the state point $\mathbf{x}\in\mathbb{R}^{ndx}$ and joint torque inputs $\mathbf{u}\in\mathbb{R}^{nu}$ .

Parameters

[in]	data	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 >.

◆ calc() [2/2]

template<typename _Scalar>

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

virtual

Ignore the computation of the actuation signal.

It does not update the actuation signal as this function is used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Actuation data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$

◆ calcDiff() [1/2]

template<typename _Scalar>

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

overridevirtual

Compute the Jacobians of the actuation function.

Parameters

[in]	data	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 >.

◆ calcDiff() [2/2]

template<typename _Scalar>

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

virtual

◆ commands()

template<typename _Scalar>

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

overridevirtual

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 >.

◆ torqueTransform()

template<typename _Scalar>

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

overridevirtual

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 >.

◆ createData()

template<typename _Scalar>

virtual std::shared_ptr< ActuationDataAbstract > createData ( )

overridevirtual

Create the actuation data.

Returns: the actuation data

Reimplemented from ActuationModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 36 of file actuation.hpp.

◆ nu_

template<typename _Scalar>

std::size_t nu_

protected

Dimension of joint torque inputs.

Definition at line 193 of file actuation-base.hpp.

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

/build/source/include/crocoddyl/core/fwd.hpp
/build/source/include/crocoddyl/core/numdiff/actuation.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ ActuationDataAbstract

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ActuationModelNumDiffTpl()

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ commands()

◆ torqueTransform()

◆ createData()

Member Data Documentation

◆ Scalar

◆ nu_