Centroidal momentum residual. More...

#include <centroidal-momentum.hpp>

Inheritance diagram for ResidualModelCentroidalMomentumTpl< _Scalar >:

Public Types
typedef ActivationModelAbstractTpl< Scalar >	ActivationModelAbstract
typedef ResidualModelAbstractTpl< Scalar >	Base
typedef ResidualDataCentroidalMomentumTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix6xs	Matrix6xs
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef MathBase::Vector6s	Vector6s
typedef MathBase::VectorXs	VectorXs
Public Types inherited from ResidualModelAbstractTpl< _Scalar >
typedef ActivationDataAbstractTpl< Scalar >	ActivationDataAbstract
typedef CostDataAbstractTpl< Scalar >	CostDataAbstract
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBase::DiagonalMatrixXs	DiagonalMatrixXs
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef StateAbstractTpl< Scalar >	StateAbstract
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ResidualModelCentroidalMomentumTpl (std::shared_ptr< StateMultibody > state, const Vector6s &href)
	Initialize the centroidal momentum residual model.
	ResidualModelCentroidalMomentumTpl (std::shared_ptr< StateMultibody > state, const Vector6s &href, const std::size_t nu)
	Initialize the centroidal momentum residual model.
virtual void	calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the centroidal momentum residual.
virtual void	calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the derivatives of the centroidal momentum residual.
template<typename NewScalar>
ResidualModelCentroidalMomentumTpl< NewScalar >	cast () const
	Cast the centroidal-momentum residual model to a different scalar type.
virtual std::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data) override
	Create the centroidal momentum residual data.
const Vector6s &	get_reference () const
	Return the reference centroidal momentum.
virtual void	print (std::ostream &os) const override
	Print relevant information of the centroidal-momentum residual.
void	set_reference (const Vector6s &href)
	Modify the reference centroidal momentum.
Public Member Functions inherited from ResidualModelAbstractTpl< _Scalar >
	ResidualModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nr, const bool q_dependent=true, const bool v_dependent=true, const bool u_dependent=true)
	Initialize the residual model.
	ResidualModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nr, const std::size_t nu, const bool q_dependent=true, const bool v_dependent=true, const bool u_dependent=true)
	Initialize the residual model.
virtual void	calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the residual vector for nodes that depends only on the state.
virtual void	calcCostDiff (const std::shared_ptr< CostDataAbstract > &cdata, const std::shared_ptr< ResidualDataAbstract > &rdata, const std::shared_ptr< ActivationDataAbstract > &adata, const bool update_u=true)
	Compute the derivative of the cost function.
virtual void	calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the Jacobian of the residual functions with respect to the state only.
std::size_t	get_nr () const
	Return the dimension of the residual vector.
std::size_t	get_nu () const
	Return the dimension of the control input.
bool	get_q_dependent () const
	Return true if the residual function depends on q.
const std::shared_ptr< StateAbstract > &	get_state () const
	Return the state.
bool	get_u_dependent () const
	Return true if the residual function depends on u.
bool	get_v_dependent () const
	Return true if the residual function depends on v.

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

Protected Attributes
std::size_t	nu_
	Control dimension.
std::shared_ptr< StateAbstract >	state_
	State description.
bool	u_dependent_
Protected Attributes inherited from ResidualModelAbstractTpl< _Scalar >
std::size_t	nr_
	Residual vector dimension.
std::size_t	nu_
	Control dimension.
bool	q_dependent_
std::shared_ptr< StateAbstract >	state_
	State description.
bool	u_dependent_
VectorXs	unone_
	No control vector.
bool	v_dependent_

Detailed Description

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

Centroidal momentum residual.

This residual function defines the centroidal momentum tracking as $\mathbf{r}=\mathbf{h}-\mathbf{h}^*$ , where $\mathbf{h},\mathbf{h}^*\in~\mathcal{X}$ are the current and reference centroidal momenta, respectively. Note that the dimension of the residual vector is 6. Furthermore, the Jacobians of the residual function are computed analytically.

As described in ResidualModelAbstractTpl(), the residual value and its Jacobians are calculated by calc and calcDiff, respectively.

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

Definition at line 36 of file centroidal-momentum.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 43 of file centroidal-momentum.hpp.

◆ Base

template<typename _Scalar>

typedef ResidualModelAbstractTpl<Scalar> Base

Definition at line 44 of file centroidal-momentum.hpp.

◆ Data

template<typename _Scalar>

typedef ResidualDataCentroidalMomentumTpl<Scalar> Data

Definition at line 45 of file centroidal-momentum.hpp.

◆ StateMultibody

template<typename _Scalar>

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 46 of file centroidal-momentum.hpp.

◆ ResidualDataAbstract

template<typename _Scalar>

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

Definition at line 47 of file centroidal-momentum.hpp.

◆ ActivationModelAbstract

template<typename _Scalar>

typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract

Definition at line 48 of file centroidal-momentum.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 49 of file centroidal-momentum.hpp.

◆ Vector6s

template<typename _Scalar>

typedef MathBase::Vector6s Vector6s

Definition at line 50 of file centroidal-momentum.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 51 of file centroidal-momentum.hpp.

◆ Matrix6xs

template<typename _Scalar>

typedef MathBase::Matrix6xs Matrix6xs

Definition at line 52 of file centroidal-momentum.hpp.

Constructor & Destructor Documentation

◆ ResidualModelCentroidalMomentumTpl() [1/2]

template<typename _Scalar>

ResidualModelCentroidalMomentumTpl	(	std::shared_ptr< StateMultibody >	state,
		const Vector6s &	href,
		const std::size_t	nu )

Initialize the centroidal momentum residual model.

Parameters

[in]	state	State of the multibody system
[in]	href	Reference centroidal momentum
[in]	nu	Dimension of the control vector

◆ ResidualModelCentroidalMomentumTpl() [2/2]

template<typename _Scalar>

ResidualModelCentroidalMomentumTpl	(	std::shared_ptr< StateMultibody >	state,
		const Vector6s &	href )

Initialize the centroidal momentum residual model.

The default nu is obtained from StateAbstractTpl::get_nv().

Parameters

[in]	state	State of the multibody system
[in]	href	Reference centroidal momentum

Member Function Documentation

◆ calc()

template<typename _Scalar>

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

overridevirtual

Compute the centroidal momentum residual.

Parameters

[in]	data	Centroidal momentum residual data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$
[in]	u	Control input $\mathbf{u}\in\mathbb{R}^{nu}$

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calcDiff()

template<typename _Scalar>

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

overridevirtual

Compute the derivatives of the centroidal momentum residual.

Parameters

[in]	data	Centroidal momentum residual data
[in]	x	State point $\mathbf{x}\in\mathbb{R}^{ndx}$
[in]	u	Control input $\mathbf{u}\in\mathbb{R}^{nu}$

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar>

virtual std::shared_ptr< ResidualDataAbstract > createData ( DataCollectorAbstract *const data )

overridevirtual

Create the centroidal momentum residual data.

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ cast()

template<typename _Scalar>

template<typename NewScalar>

ResidualModelCentroidalMomentumTpl< NewScalar > cast ( ) const

Cast the centroidal-momentum residual model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters

NewScalar The new scalar type to cast to.

Returns: ResidualModelCentroidalMomentumTpl<NewScalar> A residual model with the new scalar type.

◆ print()

template<typename _Scalar>

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

overridevirtual

Print relevant information of the centroidal-momentum residual.

Parameters

[out] os Output stream object

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 42 of file centroidal-momentum.hpp.

◆ nu_

template<typename _Scalar>

std::size_t nu_

protected

Control dimension.

Definition at line 232 of file residual-base.hpp.

◆ state_

template<typename _Scalar>

std::shared_ptr<StateAbstract> state_

protected

State description.

Definition at line 230 of file residual-base.hpp.

◆ u_dependent_

template<typename _Scalar>

bool u_dependent_

protected

Label that indicates if the residual function depends on u

Definition at line 238 of file residual-base.hpp.

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

/build/source/include/crocoddyl/multibody/fwd.hpp
/build/source/include/crocoddyl/multibody/residuals/centroidal-momentum.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ StateMultibody

◆ ResidualDataAbstract

◆ ActivationModelAbstract

◆ DataCollectorAbstract

◆ Vector6s

◆ VectorXs

◆ Matrix6xs

Constructor & Destructor Documentation

◆ ResidualModelCentroidalMomentumTpl() [1/2]

◆ ResidualModelCentroidalMomentumTpl() [2/2]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ cast()

◆ print()

Member Data Documentation

◆ Scalar

◆ nu_

◆ state_

◆ u_dependent_