Centroidal-momentum task model. More...

#include <centroidal-momentum.hpp>

Inheritance diagram for TaskModelCentroidalMomentumTpl< _Scalar >:

Public Types
typedef TaskModelAbstractTpl< Scalar >	Base
typedef TaskDataCentroidalMomentumTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef TaskDataAbstractTpl< Scalar >	TaskDataAbstract
typedef MathBase::Vector6s	Vector6s
typedef MathBase::VectorXs	VectorXs
Public Types inherited from TaskModelAbstractTpl< _Scalar >
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::MatrixXs	MatrixXs
typedef StateAbstractTpl< Scalar >	StateAbstract
typedef TaskDataAbstractTpl< Scalar >	TaskDataAbstract
typedef MathBase::VectorXs	VectorXs

Public Member Functions
	TaskModelCentroidalMomentumTpl (std::shared_ptr< StateMultibody > state, const Vector6s &href)
	Initialize with a constant momentum reference.
	TaskModelCentroidalMomentumTpl (std::shared_ptr< StateMultibody > state, const Vector6s &href, const std::size_t nu)
	Initialize with a constant momentum reference.
	TaskModelCentroidalMomentumTpl (std::shared_ptr< StateMultibody > state, const Vector6s &href, const Vector6s &hdot_ref)
	Initialize with momentum and momentum-rate references.
	TaskModelCentroidalMomentumTpl (std::shared_ptr< StateMultibody > state, const Vector6s &href, const Vector6s &hdot_ref, const std::size_t nu)
	Initialize with momentum and momentum-rate references.
virtual void	calc (const std::shared_ptr< TaskDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the task quantity, rate, and acceleration.
virtual void	calcDiff (const std::shared_ptr< TaskDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute task Jacobians using values stored by calc().
template<typename NewScalar>
TaskModelCentroidalMomentumTpl< NewScalar >	cast () const
virtual std::shared_ptr< TaskDataAbstract >	createData (DataCollectorAbstract *const data) override
	Allocate task data and bind it to the action model's shared data.
const Vector6s &	get_rate_reference () const
const Vector6s &	get_reference () const
virtual void	print (std::ostream &os) const override
	Print relevant information about the task model.
void	set_rate_reference (const Vector6s &hdot_ref)
void	set_reference (const Vector6s &href)
Public Member Functions inherited from TaskModelAbstractTpl< _Scalar >
	TaskModelAbstractTpl (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, const bool has_acceleration=true)
	Initialize the task model.
bool	get_has_acceleration () const
	Return whether the task defines an acceleration component.
std::size_t	get_nr () const
std::size_t	get_nu () const
bool	get_q_dependent () const
const std::shared_ptr< StateAbstract > &	get_state () const
bool	get_u_dependent () const
bool	get_v_dependent () const

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

Protected Attributes
std::size_t	nr_
std::size_t	nu_
std::shared_ptr< StateAbstract >	state_
Protected Attributes inherited from TaskModelAbstractTpl< _Scalar >
bool	has_acceleration_
std::size_t	nr_
std::size_t	nu_
bool	q_dependent_
std::shared_ptr< StateAbstract >	state_
bool	u_dependent_
bool	v_dependent_

Detailed Description

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

Centroidal-momentum task model.

The task quantity and rate are

$\‍[ y = h-h_{\mathrm{ref}}, \qquad v = \dot h-\dot h_{\mathrm{ref}}, \‍]$

with

$\‍[ h=A_g(q)\dot q, \qquad \dot h=\dot A_g(q,\dot q)\dot q+A_g(q)\ddot q. \‍]$

The model is first-order only: a centroidal-momentum acceleration would require generalized jerk, which is not supplied by differential action models. Therefore, a, Ax, and Au remain zero.

The momentum and momentum-rate values, as well as their partial derivatives at fixed generalized acceleration, are read from the shared Pinocchio data. When shared joint data is available, its acceleration derivatives are used to apply the chain rule with respect to the action-model variables.

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

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

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

◆ Base

template<typename _Scalar>

typedef TaskModelAbstractTpl<Scalar> Base

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

◆ Data

template<typename _Scalar>

typedef TaskDataCentroidalMomentumTpl<Scalar> Data

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

◆ TaskDataAbstract

template<typename _Scalar>

typedef TaskDataAbstractTpl<Scalar> TaskDataAbstract

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

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

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

◆ StateMultibody

template<typename _Scalar>

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 53 of file centroidal-momentum.hpp.

◆ Vector6s

template<typename _Scalar>

typedef MathBase::Vector6s Vector6s

Definition at line 54 of file centroidal-momentum.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 55 of file centroidal-momentum.hpp.

Constructor & Destructor Documentation

◆ TaskModelCentroidalMomentumTpl() [1/4]

template<typename _Scalar>

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

Initialize with momentum and momentum-rate references.

Parameters

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

◆ TaskModelCentroidalMomentumTpl() [2/4]

template<typename _Scalar>

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

Initialize with momentum and momentum-rate references.

The default control dimension is state.nv.

Parameters

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

◆ TaskModelCentroidalMomentumTpl() [3/4]

template<typename _Scalar>

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

Initialize with a constant momentum reference.

The momentum-rate reference is zero.

Parameters

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

◆ TaskModelCentroidalMomentumTpl() [4/4]

template<typename _Scalar>

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

Initialize with a constant momentum reference.

The momentum-rate reference is zero and the default control dimension is state.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< TaskDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u )

overridevirtual

Compute the task quantity, rate, and acceleration.

Implements TaskModelAbstractTpl< _Scalar >.

◆ calcDiff()

template<typename _Scalar>

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

overridevirtual

Compute task Jacobians using values stored by calc().

Implements TaskModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar>

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

overridevirtual

Allocate task data and bind it to the action model's shared data.

Reimplemented from TaskModelAbstractTpl< _Scalar >.

◆ print()

template<typename _Scalar>

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

overridevirtual

Print relevant information about the task model.

Reimplemented from TaskModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

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

◆ nr_

template<typename _Scalar>

std::size_t nr_

protected

Definition at line 114 of file task-base.hpp.

◆ nu_

template<typename _Scalar>

std::size_t nu_

protected

Definition at line 115 of file task-base.hpp.

◆ state_

template<typename _Scalar>

std::shared_ptr<StateAbstract> state_

protected

Definition at line 113 of file task-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/tasks/centroidal-momentum.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ TaskDataAbstract

◆ DataCollectorAbstract

◆ StateMultibody

◆ Vector6s

◆ VectorXs

Constructor & Destructor Documentation

◆ TaskModelCentroidalMomentumTpl() [1/4]

◆ TaskModelCentroidalMomentumTpl() [2/4]

◆ TaskModelCentroidalMomentumTpl() [3/4]

◆ TaskModelCentroidalMomentumTpl() [4/4]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ print()

Member Data Documentation

◆ Scalar

◆ nr_

◆ nu_

◆ state_