Second-order task residual for a generic task and guidance model. More...

#include <task-second-order.hpp>

Inheritance diagram for ResidualModelTaskSecondOrderTpl< _Scalar >:

Public Types
typedef ResidualModelAbstractTpl< Scalar >	Base
typedef ResidualDataTaskSecondOrderTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef GuidanceModelAbstractTpl< Scalar >	GuidanceModelAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef ResidualDataAbstractTpl< Scalar >	ResidualDataAbstract
typedef TaskModelAbstractTpl< Scalar >	TaskModelAbstract
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
	ResidualModelTaskSecondOrderTpl (std::shared_ptr< TaskModelAbstract > task, std::shared_ptr< GuidanceModelAbstract > guidance, const MatrixXs &gain)
	Initialize the second-order task residual with a full gain.
	ResidualModelTaskSecondOrderTpl (std::shared_ptr< TaskModelAbstract > task, std::shared_ptr< GuidanceModelAbstract > guidance, const Scalar &gain)
	Initialize the second-order task residual with a scalar gain.
	ResidualModelTaskSecondOrderTpl (std::shared_ptr< TaskModelAbstract > task, std::shared_ptr< GuidanceModelAbstract > guidance, const VectorXs &diagonal_gain)
	Initialize the second-order task residual with a diagonal gain.
virtual void	calc (const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the second-order task 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 residual Jacobians.
template<typename NewScalar>
ResidualModelTaskSecondOrderTpl< NewScalar >	cast () const
	Cast the residual model to a different scalar type.
virtual std::shared_ptr< ResidualDataAbstract >	createData (DataCollectorAbstract *const data) override
	Allocate data for the residual.
const MatrixXs &	get_gain () const
const std::shared_ptr< GuidanceModelAbstract > &	get_guidance () const
const std::shared_ptr< TaskModelAbstract > &	get_task () const
virtual void	print (std::ostream &os) const override
	Print relevant information of the residual model.
void	set_gain (const MatrixXs &gain)
void	set_guidance (std::shared_ptr< GuidanceModelAbstract > guidance)
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 Member Functions
void	checkDimensions () const

Protected Attributes
MatrixXs	gain_
std::shared_ptr< GuidanceModelAbstract >	guidance_
std::size_t	nr_
	Residual vector dimension.
std::size_t	nu_
	Control dimension.
bool	q_dependent_
std::shared_ptr< StateAbstract >	state_
	State description.
std::shared_ptr< TaskModelAbstract >	task_
bool	u_dependent_
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::ResidualModelTaskSecondOrderTpl< _Scalar >

Second-order task residual for a generic task and guidance model.

The running residual is

$\‍[ r = a(x, u) + K\big(v(x, u) - g(y(x, u))\big), \‍]$

where is the task acceleration, is the task rate, $g=\phi(y)$ is a guidance model, and is a task gain.

The gain can be supplied as a full matrix, a diagonal vector, or a scalar isotropic gain.

The residual Jacobians are

$\‍[ R_x = A_x + K\big(V_x - G_e Y_x\big), \qquad R_u = A_u + K\big(V_u - G_e Y_u\big), \‍]$

where $G_e = \partial g / \partial y$ .

Definition at line 40 of file task-second-order.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 47 of file task-second-order.hpp.

◆ Base

template<typename _Scalar>

typedef ResidualModelAbstractTpl<Scalar> Base

Definition at line 48 of file task-second-order.hpp.

◆ Data

template<typename _Scalar>

typedef ResidualDataTaskSecondOrderTpl<Scalar> Data

Definition at line 49 of file task-second-order.hpp.

◆ ResidualDataAbstract

template<typename _Scalar>

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

Definition at line 50 of file task-second-order.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 51 of file task-second-order.hpp.

◆ GuidanceModelAbstract

template<typename _Scalar>

typedef GuidanceModelAbstractTpl<Scalar> GuidanceModelAbstract

Definition at line 52 of file task-second-order.hpp.

◆ TaskModelAbstract

template<typename _Scalar>

typedef TaskModelAbstractTpl<Scalar> TaskModelAbstract

Definition at line 53 of file task-second-order.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 54 of file task-second-order.hpp.

◆ MatrixXs

template<typename _Scalar>

typedef MathBase::MatrixXs MatrixXs

Definition at line 55 of file task-second-order.hpp.

Constructor & Destructor Documentation

◆ ResidualModelTaskSecondOrderTpl() [1/3]

template<typename _Scalar>

ResidualModelTaskSecondOrderTpl	(	std::shared_ptr< TaskModelAbstract >	task,
		std::shared_ptr< GuidanceModelAbstract >	guidance,
		const MatrixXs &	gain )

Initialize the second-order task residual with a full gain.

The residual is

$\‍[ r = a + K(v - g(y)), \‍]$

where is the task acceleration, is the task rate, and is the guidance output.

The residual Jacobians are

$\‍[ R_x = A_x + K\big(V_x - G_e Y_x\big), \qquad R_u = A_u + K\big(V_u - G_e Y_u\big), \‍]$

where $G_e = \partial g / \partial y$ .

Parameters

[in]	task	Task model
[in]	guidance	Guidance model
[in]	gain	Full task gain matrix

◆ ResidualModelTaskSecondOrderTpl() [2/3]

template<typename _Scalar>

ResidualModelTaskSecondOrderTpl	(	std::shared_ptr< TaskModelAbstract >	task,
		std::shared_ptr< GuidanceModelAbstract >	guidance,
		const VectorXs &	diagonal_gain )

Initialize the second-order task residual with a diagonal gain.

The diagonal entries are used to build the full gain matrix.

Parameters

[in]	task	Task model
[in]	guidance	Guidance model
[in]	diagonal_gain	Diagonal task gain

◆ ResidualModelTaskSecondOrderTpl() [3/3]

template<typename _Scalar>

ResidualModelTaskSecondOrderTpl	(	std::shared_ptr< TaskModelAbstract >	task,
		std::shared_ptr< GuidanceModelAbstract >	guidance,
		const Scalar &	gain )

Initialize the second-order task residual with a scalar gain.

The gain is expanded to a scalar multiple of the identity matrix.

Parameters

[in]	task	Task model
[in]	guidance	Guidance model
[in]	gain	Isotropic task gain

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 second-order task residual.

This evaluates

$\‍[ r = a + K(v - g(y)). \‍]$

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 residual Jacobians.

This evaluates

$\‍[ R_x = A_x + K\big(V_x - G_e Y_x\big), \qquad R_u = A_u + K\big(V_u - G_e Y_u\big). \‍]$

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar>

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

overridevirtual

Allocate data for the residual.

Reimplemented from ResidualModelAbstractTpl< _Scalar >.

◆ print()

template<typename _Scalar>

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

overridevirtual

Print relevant information of the residual model.

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 46 of file task-second-order.hpp.

◆ task_

template<typename _Scalar>

std::shared_ptr<TaskModelAbstract> task_

protected

Definition at line 164 of file task-second-order.hpp.

◆ guidance_

template<typename _Scalar>

std::shared_ptr<GuidanceModelAbstract> guidance_

protected

Definition at line 165 of file task-second-order.hpp.

◆ gain_

template<typename _Scalar>

MatrixXs gain_

protected

Definition at line 166 of file task-second-order.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.

◆ q_dependent_

template<typename _Scalar>

bool q_dependent_

protected

Label that indicates if the residual function depends on q

Definition at line 234 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.

◆ 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/core/fwd.hpp
/build/source/include/crocoddyl/core/residuals/task-second-order.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ ResidualDataAbstract

◆ DataCollectorAbstract

◆ GuidanceModelAbstract

◆ TaskModelAbstract

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ResidualModelTaskSecondOrderTpl() [1/3]

◆ ResidualModelTaskSecondOrderTpl() [2/3]

◆ ResidualModelTaskSecondOrderTpl() [3/3]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ print()

Member Data Documentation

◆ Scalar

◆ task_

◆ guidance_

◆ gain_

◆ nr_

◆ nu_

◆ q_dependent_

◆ state_

◆ u_dependent_

◆ v_dependent_