Direction-preserving, smoothly bounded guidance model. More...

#include <smooth-saturation.hpp>

Inheritance diagram for GuidanceModelSmoothSaturationTpl< _Scalar >:

Public Types
typedef GuidanceModelAbstractTpl< Scalar >	Base
typedef GuidanceDataSmoothSaturationTpl< 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
	GuidanceModelSmoothSaturationTpl (const std::size_t nr, const Scalar &gain, const Scalar &max_rate, const Scalar epsilon=Scalar(1e-6))
	Initialize the smoothly saturated guidance model.
virtual void	calc (const std::shared_ptr< GuidanceDataAbstract > &data, const Eigen::Ref< const VectorXs > &error) const override
	Compute the smooth-saturation guidance output.
virtual void	calcDiff (const std::shared_ptr< GuidanceDataAbstract > &data, const Eigen::Ref< const VectorXs > &error) const override
	Compute the Jacobian of the smooth-saturation law.
template<typename NewScalar>
GuidanceModelSmoothSaturationTpl< 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.
const Scalar &	get_epsilon () const
	Return the smoothing parameter.
const Scalar &	get_gain () const
	Return the local linear gain.
const Scalar &	get_max_rate () const
	Return the maximum desired-rate norm.
virtual void	print (std::ostream &os) const override
	Print the model parameters.
void	set_epsilon (const Scalar &epsilon)
	Update the smoothing parameter.
void	set_gain (const Scalar &gain)
	Update the local linear gain.
void	set_max_rate (const Scalar &max_rate)
	Update the maximum desired-rate norm.
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.

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

Additional Inherited Members
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::GuidanceModelSmoothSaturationTpl< _Scalar >

Direction-preserving, smoothly bounded guidance model.

This law is intended for Euclidean tasks with homogeneous units and implements the smooth saturation law

$\‍[ g(e) = -v_{\max}\tanh\left(\frac{k r_\epsilon}{v_{\max}}\right) \frac{e}{r_\epsilon}, \qquad r_\epsilon = \sqrt{e^\top e + \epsilon^2}. \‍]$

It is smooth at the origin, approaches locally for a sufficiently small $\epsilon$ , preserves direction, and bounds the desired-rate norm.

Definition at line 34 of file smooth-saturation.hpp.

Member Typedef Documentation

◆ Base

template<typename _Scalar>

typedef GuidanceModelAbstractTpl<Scalar> Base

Definition at line 41 of file smooth-saturation.hpp.

◆ GuidanceDataAbstract

template<typename _Scalar>

typedef Base::GuidanceDataAbstract GuidanceDataAbstract

Definition at line 42 of file smooth-saturation.hpp.

◆ Data

template<typename _Scalar>

typedef GuidanceDataSmoothSaturationTpl<Scalar> Data

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

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

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

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

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

◆ MatrixXs

template<typename _Scalar>

typedef MathBase::MatrixXs MatrixXs

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

Constructor & Destructor Documentation

◆ GuidanceModelSmoothSaturationTpl()

template<typename _Scalar>

GuidanceModelSmoothSaturationTpl	(	const std::size_t	nr,
		const Scalar &	gain,
		const Scalar &	max_rate,
		const Scalar	epsilon = Scalar(1e-6) )

Initialize the smoothly saturated guidance model.

Parameters

[in]	nr	Task dimension.
[in]	gain	Local linear gain .
[in]	max_rate	Maximum desired-rate norm $v_{\max}$ .
[in]	epsilon	Smoothing parameter $\epsilon > 0$ .

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 smooth-saturation 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 smooth-saturation 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 $r_\epsilon$ , the output scale, and the cached saturation values.

Reimplemented from GuidanceModelAbstractTpl< _Scalar >.

◆ get_gain()

template<typename _Scalar>

const Scalar & get_gain ( ) const

Return the local linear gain.

Returns: The gain .

◆ get_max_rate()

template<typename _Scalar>

const Scalar & get_max_rate ( ) const

Return the maximum desired-rate norm.

Returns: The saturation bound $v_{\max}$ .

◆ get_epsilon()

template<typename _Scalar>

const Scalar & get_epsilon ( ) const

Return the smoothing parameter.

Returns: The smoothing value $\epsilon$ .

◆ set_gain()

template<typename _Scalar>

void set_gain ( const Scalar & gain )

Update the local linear gain.

Parameters

[in] gain New local linear gain $k \ge 0$ .

◆ set_max_rate()

template<typename _Scalar>

void set_max_rate ( const Scalar & max_rate )

Update the maximum desired-rate norm.

Parameters

[in] max_rate New saturation bound $v_{\max} > 0$ .

◆ set_epsilon()

template<typename _Scalar>

void set_epsilon ( const Scalar & epsilon )

Update the smoothing parameter.

Parameters

[in] epsilon New smoothing value $\epsilon > 0$ .

◆ 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 >.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 40 of file smooth-saturation.hpp.

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

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

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Base

◆ GuidanceDataAbstract

◆ Data

◆ MathBase

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ GuidanceModelSmoothSaturationTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ get_gain()

◆ get_max_rate()

◆ get_epsilon()

◆ set_gain()

◆ set_max_rate()

◆ set_epsilon()

◆ print()

Member Data Documentation

◆ Scalar