Crocoddyl: GuidanceModelComponentwiseSaturationTpl< _Scalar > Class Template Reference

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Independently bounded guidance model for heterogeneous task channels. More...

#include <componentwise-saturation.hpp>

Inheritance diagram for GuidanceModelComponentwiseSaturationTpl< _Scalar >:

Public Types
typedef GuidanceModelAbstractTpl< Scalar >	Base
typedef GuidanceDataComponentwiseSaturationTpl< Scalar >	Data
typedef Base::GuidanceDataAbstract	GuidanceDataAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs
Public Types inherited from GuidanceModelAbstractTpl< _Scalar >
typedef GuidanceDataAbstractTpl< Scalar >	GuidanceDataAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	GuidanceModelComponentwiseSaturationTpl (const VectorXs &gain, const VectorXs &max_rate)
	Initialize the componentwise saturation guidance model.
virtual void	calc (const std::shared_ptr< GuidanceDataAbstract > &data, const Eigen::Ref< const VectorXs > &error) const override
	Compute the saturated guidance output.
virtual void	calcDiff (const std::shared_ptr< GuidanceDataAbstract > &data, const Eigen::Ref< const VectorXs > &error) const override
	Compute the Jacobian of the saturated guidance law.
template<typename NewScalar>
GuidanceModelComponentwiseSaturationTpl< NewScalar >	cast () const
	Cast the guidance model to a different scalar type.
virtual std::shared_ptr< GuidanceDataAbstract >	createData () const override
	Allocate the cached guidance data.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CROCODDYL_DERIVED_CAST (GuidanceModelBase, GuidanceModelComponentwiseSaturationTpl) typedef _Scalar Scalar
const VectorXs &	get_gain () const
	Return the componentwise gains.
const VectorXs &	get_max_rate () const
	Return the componentwise saturation bounds.
virtual void	print (std::ostream &os) const override
	Print the model parameters.
void	set_gain (const VectorXs &gain)
	Update the componentwise gains.
void	set_max_rate (const VectorXs &max_rate)
	Update the componentwise saturation bounds.
Public Member Functions inherited from GuidanceModelAbstractTpl< _Scalar >
	GuidanceModelAbstractTpl (const std::size_t nr)
	Initialize the guidance-model dimension.
std::size_t	get_nr () const
	Return the error and desired-rate dimension.

Additional Inherited Members
Public Attributes inherited from GuidanceModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
Protected Member Functions inherited from GuidanceModelAbstractTpl< _Scalar >
void	checkErrorDimension (const Eigen::Ref< const VectorXs > &error) const
void	checkJacobianDimension (const Eigen::Ref< const MatrixXs > &Ge) const
void	checkRateDimension (const Eigen::Ref< const VectorXs > &g) const
Protected Attributes inherited from GuidanceModelAbstractTpl< _Scalar >
std::size_t	nr_

Detailed Description

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

Independently bounded guidance model for heterogeneous task channels.

For each component, it implements

$\‍[ g_i = -v_{\max,i}\tanh\left(\frac{k_i e_i}{v_{\max,i}}\right). \‍]$

The Jacobian is diagonal, with

$\‍[ G_e(i,i) = -k_i \left(1 - \tanh^2(z_i)\right), \qquad z_i = \frac{k_i e_i}{v_{\max,i}}. \‍]$

This is useful when channels have different units or physical limits, such as translation and rotation blocks.

Definition at line 35 of file componentwise-saturation.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar>

typedef GuidanceModelAbstractTpl<Scalar> Base

Definition at line 43 of file componentwise-saturation.hpp.

◆ GuidanceDataAbstract

template<typename _Scalar>

typedef Base::GuidanceDataAbstract GuidanceDataAbstract

Definition at line 44 of file componentwise-saturation.hpp.

◆ Data

template<typename _Scalar>

typedef GuidanceDataComponentwiseSaturationTpl<Scalar> Data

Definition at line 45 of file componentwise-saturation.hpp.

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 46 of file componentwise-saturation.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 47 of file componentwise-saturation.hpp.

◆ MatrixXs

template<typename _Scalar>

typedef MathBase::MatrixXs MatrixXs

Definition at line 48 of file componentwise-saturation.hpp.

Constructor & Destructor Documentation

◆ GuidanceModelComponentwiseSaturationTpl()

template<typename _Scalar>

GuidanceModelComponentwiseSaturationTpl	(	const VectorXs &	gain,
		const VectorXs &	max_rate )

Initialize the componentwise saturation guidance model.

Parameters

[in]	gain	Nonnegative componentwise gains .
[in]	max_rate	Positive componentwise saturation bounds $v_{\max,i}$ .

Member Function Documentation

◆ calc()

template<typename _Scalar>

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

overridevirtual

Compute the saturated guidance output.

Parameters

[in,out]	data	Preallocated guidance data.
[in]	error	Task error .

Implements GuidanceModelAbstractTpl< _Scalar >.

◆ calcDiff()

template<typename _Scalar>

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

overridevirtual

Compute the Jacobian of the saturated guidance law.

Parameters

[in,out]	data	Preallocated guidance data.
[in]	error	Task error .

Implements GuidanceModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar>

virtual std::shared_ptr< GuidanceDataAbstract > createData ( ) const

overridevirtual

Allocate the cached guidance data.

Returns: Data object storing the componentwise saturation arguments.

Reimplemented from GuidanceModelAbstractTpl< _Scalar >.

◆ get_gain()

template<typename _Scalar>

const VectorXs & get_gain ( ) const

Return the componentwise gains.

Returns: The vector of nonnegative gains .

◆ get_max_rate()

template<typename _Scalar>

const VectorXs & get_max_rate ( ) const

Return the componentwise saturation bounds.

Returns: The vector of positive bounds $v_{\max,i}$ .

◆ set_gain()

template<typename _Scalar>

void set_gain ( const VectorXs & gain )

Update the componentwise gains.

Parameters

[in] gain Nonnegative componentwise gains.

◆ set_max_rate()

template<typename _Scalar>

void set_max_rate ( const VectorXs & max_rate )

Update the componentwise saturation bounds.

Parameters

[in] max_rate Positive componentwise bounds.

◆ print()

template<typename _Scalar>

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

overridevirtual

Print the model parameters.

Parameters

[out] os Output stream.

Reimplemented from GuidanceModelAbstractTpl< _Scalar >.

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

/build/source/include/crocoddyl/core/fwd.hpp
/build/source/include/crocoddyl/core/guidance/componentwise-saturation.hpp

crocoddyl
GuidanceModelComponentwiseSaturationTpl
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