Frame velocity residual. More...

#include <frame-velocity.hpp>

Inheritance diagram for ResidualModelFrameVelocityTpl< _Scalar >:

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base
typedef ResidualDataFrameVelocityTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef pinocchio::MotionTpl< Scalar >	Motion
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
	ResidualModelFrameVelocityTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Motion &vref, const pinocchio::ReferenceFrame type)
	Initialize the frame velocity residual model.
	ResidualModelFrameVelocityTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Motion &vref, const pinocchio::ReferenceFrame type, const std::size_t nu)
	Initialize the frame velocity 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 frame velocity residual vector.
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 frame velocity residual.
template<typename NewScalar>
ResidualModelFrameVelocityTpl< NewScalar >	cast () const
	Cast the frame-velocity residual model to a different scalar type.
virtual std::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data) override
	Create the frame velocity residual data.
pinocchio::FrameIndex	get_id () const
	Return the reference frame id.
const Motion &	get_reference () const
	Return the reference velocity.
pinocchio::ReferenceFrame	get_type () const
	Return the reference type of velocity.
virtual void	print (std::ostream &os) const override
	Print relevant information of the frame-velocity residual.
void	set_id (const pinocchio::FrameIndex id)
	Modify reference frame id.
void	set_reference (const Motion &velocity)
	Modify reference velocity.
void	set_type (const pinocchio::ReferenceFrame type)
	Modify reference type of velocity.
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	nr_
	Residual vector dimension.
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::ResidualModelFrameVelocityTpl< _Scalar >

Frame velocity residual.

This residual function defines a tracking of frame velocity as $\mathbf{r}=\mathbf{v}-\mathbf{v}^*$ , where $\mathbf{v},\mathbf{v}^*\in~T_{\mathbf{p}}~\mathbb{SE(3)}$ are the current and reference frame velocities, respectively. Note that the tangent vector is described by the frame placement $\mathbf{p}$ , and the dimension of the residual vector is 6. Furthermore, the Jacobians of the residual function are computed analytically.

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

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

Definition at line 37 of file frame-velocity.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 43 of file frame-velocity.hpp.

◆ Base

template<typename _Scalar>

typedef ResidualModelAbstractTpl<Scalar> Base

Definition at line 44 of file frame-velocity.hpp.

◆ Data

template<typename _Scalar>

typedef ResidualDataFrameVelocityTpl<Scalar> Data

Definition at line 45 of file frame-velocity.hpp.

◆ StateMultibody

template<typename _Scalar>

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 46 of file frame-velocity.hpp.

◆ ResidualDataAbstract

template<typename _Scalar>

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

Definition at line 47 of file frame-velocity.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 48 of file frame-velocity.hpp.

◆ Motion

template<typename _Scalar>

typedef pinocchio::MotionTpl<Scalar> Motion

Definition at line 49 of file frame-velocity.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 50 of file frame-velocity.hpp.

Constructor & Destructor Documentation

◆ ResidualModelFrameVelocityTpl() [1/2]

template<typename _Scalar>

ResidualModelFrameVelocityTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Motion &	vref,
		const pinocchio::ReferenceFrame	type,
		const std::size_t	nu )

Initialize the frame velocity residual model.

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id
[in]	vref	Reference velocity
[in]	type	Reference type of velocity (WORLD, LOCAL, LOCAL_WORLD_ALIGNED)
[in]	nu	Dimension of the control vector

◆ ResidualModelFrameVelocityTpl() [2/2]

template<typename _Scalar>

ResidualModelFrameVelocityTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Motion &	vref,
		const pinocchio::ReferenceFrame	type )

Initialize the frame velocity residual model.

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

Parameters

[in]	state	State of the multibody system
[in]	id	Reference frame id
[in]	vref	Reference velocity
[in]	type	Reference type of velocity (WORLD, LOCAL, LOCAL_WORLD_ALIGNED)

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 frame velocity residual vector.

Parameters

[in]	data	Frame velocity 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 Jacobians of the frame velocity residual.

Parameters

[in]	data	Frame velocity 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 frame velocity residual data.

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ cast()

template<typename _Scalar>

template<typename NewScalar>

ResidualModelFrameVelocityTpl< NewScalar > cast ( ) const

Cast the frame-velocity 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: ResidualModelFrameVelocityTpl<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 frame-velocity 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 frame-velocity.hpp.

◆ nr_

template<typename _Scalar>

std::size_t nr_

protected

Residual vector dimension.

Definition at line 231 of file residual-base.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/frame-velocity.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ StateMultibody

◆ ResidualDataAbstract

◆ DataCollectorAbstract

◆ Motion

◆ VectorXs

Constructor & Destructor Documentation

◆ ResidualModelFrameVelocityTpl() [1/2]

◆ ResidualModelFrameVelocityTpl() [2/2]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ cast()

◆ print()

Member Data Documentation

◆ Scalar

◆ nr_

◆ nu_

◆ state_

◆ u_dependent_