Control gravity residual under contact. More...

#include <contact-control-gravity.hpp>

Inheritance diagram for ResidualModelContactControlGravTpl< _Scalar >:

Public Types
typedef ActuationModelAbstractTpl< Scalar >	ActuationModelAbstract
typedef ResidualModelAbstractTpl< Scalar >	Base
typedef ResidualDataContactControlGravTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef StateMultibodyTpl< Scalar >	StateMultibody
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
	ResidualModelContactControlGravTpl (std::shared_ptr< StateMultibody > state)
	Initialize the contact control gravity contact residual model.
	ResidualModelContactControlGravTpl (std::shared_ptr< StateMultibody > state, const std::size_t nu)
	Initialize the contact control gravity contact residual model.
virtual void	calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the residual vector for nodes that depends only on the state.
virtual void	calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the contact control gravity contact residual.
virtual void	calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x) override
	Compute the Jacobian of the residual functions with respect to the state only.
virtual void	calcDiff (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the Jacobians of the contact control gravity contact residual.
template<typename NewScalar>
ResidualModelContactControlGravTpl< NewScalar >	cast () const
	Cast the contact-control-gravity residual model to a different scalar type.
virtual std::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data) override
	Create the contact-control-gravity residual data.
virtual void	print (std::ostream &os) const override
	Print relevant information of the contact-control-grav residual.
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	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.
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	v_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::ResidualModelContactControlGravTpl< _Scalar >

Control gravity residual under contact.

This residual function is defined as $\mathbf{r}=\mathbf{u}-(\mathbf{g}(\mathbf{q}) - \sum \mathbf{J}_c(\mathbf{q})^{\top} \mathbf{f}_c)$ , where $\mathbf{u}\in~\mathbb{R}^{nu}$ is the current control input, $\mathbf{J}_c(\mathbf{q})$ is the contact Jacobians, $\mathbf{f}_c$ contains the contact forces, $\mathbf{g}(\mathbf{q})$ is the gravity torque corresponding to the current configuration, $\mathbf{q}\in~\mathbb{R}^{nq}$ is the current position joints input. Note that the dimension of the residual vector is obtained from state->get_nv().

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 39 of file contact-control-gravity.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 46 of file contact-control-gravity.hpp.

◆ Base

template<typename _Scalar>

typedef ResidualModelAbstractTpl<Scalar> Base

Definition at line 47 of file contact-control-gravity.hpp.

◆ Data

template<typename _Scalar>

typedef ResidualDataContactControlGravTpl<Scalar> Data

Definition at line 48 of file contact-control-gravity.hpp.

◆ ResidualDataAbstract

template<typename _Scalar>

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

Definition at line 49 of file contact-control-gravity.hpp.

◆ StateMultibody

template<typename _Scalar>

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 50 of file contact-control-gravity.hpp.

◆ ActuationModelAbstract

template<typename _Scalar>

typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract

Definition at line 51 of file contact-control-gravity.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 52 of file contact-control-gravity.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 53 of file contact-control-gravity.hpp.

◆ MatrixXs

template<typename _Scalar>

typedef MathBase::MatrixXs MatrixXs

Definition at line 54 of file contact-control-gravity.hpp.

Constructor & Destructor Documentation

◆ ResidualModelContactControlGravTpl() [1/2]

template<typename _Scalar>

ResidualModelContactControlGravTpl	(	std::shared_ptr< StateMultibody >	state,
		const std::size_t	nu )

Initialize the contact control gravity contact residual model.

Parameters

[in]	state	State of the multibody system
[in]	nu	Dimension of the control vector

◆ ResidualModelContactControlGravTpl() [2/2]

template<typename _Scalar>

ResidualModelContactControlGravTpl ( std::shared_ptr< StateMultibody > state )

explicit

Initialize the contact control gravity contact residual model.

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

Parameters

[in] state State of the multibody system

Member Function Documentation

◆ calc() [1/2]

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 contact control gravity contact residual.

Parameters

[in]	data	Contact control gravity 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 >.

◆ calc() [2/2]

template<typename _Scalar>

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

overridevirtual

Compute the residual vector for nodes that depends only on the state.

It updates the residual vector based on the state only (i.e., it ignores the contact forces). This function is used in the terminal nodes of an optimal control problem.

Parameters

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ calcDiff() [1/2]

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 Jacobians of the contact control gravity contact residual.

Parameters

[in]	data	Contact control gravity 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() [2/2]

template<typename _Scalar>

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

overridevirtual

Compute the Jacobian of the residual functions with respect to the state only.

It updates the Jacobian of the residual function based on the state only (i.e., it ignores the contact forces). This function is used in the terminal nodes of an optimal control problem.

Parameters

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

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar>

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

overridevirtual

Create the contact-control-gravity residual data.

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ cast()

template<typename _Scalar>

template<typename NewScalar>

ResidualModelContactControlGravTpl< NewScalar > cast ( ) const

Cast the contact-control-gravity 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: ResidualModelContactControlGravTpl<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 contact-control-grav 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 45 of file contact-control-gravity.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.

◆ v_dependent_

template<typename _Scalar>

bool v_dependent_

protected

Label that indicates if the residual function depends on v

Definition at line 236 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/contact-control-gravity.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ ResidualDataAbstract

◆ StateMultibody

◆ ActuationModelAbstract

◆ DataCollectorAbstract

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ResidualModelContactControlGravTpl() [1/2]

◆ ResidualModelContactControlGravTpl() [2/2]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ cast()

◆ print()

Member Data Documentation

◆ Scalar

◆ nu_

◆ state_

◆ v_dependent_