CoM position task model. More...

#include <com-position.hpp>

Inheritance diagram for TaskModelCoMPositionTpl< _Scalar >:

Public Types
typedef TaskModelAbstractTpl< Scalar >	Base
typedef TaskDataCoMPositionTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix3xs	Matrix3xs
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef TaskDataAbstractTpl< Scalar >	TaskDataAbstract
typedef MathBase::Vector3s	Vector3s
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
	TaskModelCoMPositionTpl (std::shared_ptr< StateMultibody > state, const Vector3s &cref)
	Construct a CoM position task using the default control dimension.
	TaskModelCoMPositionTpl (std::shared_ptr< StateMultibody > state, const Vector3s &cref, const std::size_t nu)
	Construct a CoM position task.
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 value and task rate.
virtual void	calcDiff (const std::shared_ptr< TaskDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
	Compute the task Jacobians.
template<typename NewScalar>
TaskModelCoMPositionTpl< NewScalar >	cast () const
	Cast the task model to a different scalar type.
virtual std::shared_ptr< TaskDataAbstract >	createData (DataCollectorAbstract *const data) override
	Allocate task data.
const Vector3s &	get_reference () const
	Return the reference CoM position.
virtual void	print (std::ostream &os) const override
	Print relevant information.
void	set_reference (const Vector3s &cref)
	Update the reference CoM position.
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_
bool	q_dependent_
std::shared_ptr< StateAbstract >	state_
bool	u_dependent_
bool	v_dependent_
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::TaskModelCoMPositionTpl< _Scalar >

CoM position task model.

The task quantity is the 3D center-of-mass tracking error

$\‍[ y = c - c_\mathrm{ref}, \‍]$

where is the current center-of-mass position expressed in the world frame and $c_\mathrm{ref}$ is the reference position.

The task rate is the center-of-mass linear velocity

$\‍[ v = \dot c. \‍]$

The acceleration term is the center-of-mass linear acceleration

$\‍[ a = \ddot c. \‍]$

Definition at line 44 of file com-position.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 50 of file com-position.hpp.

◆ Base

template<typename _Scalar>

typedef TaskModelAbstractTpl<Scalar> Base

Definition at line 51 of file com-position.hpp.

◆ TaskDataAbstract

template<typename _Scalar>

typedef TaskDataAbstractTpl<Scalar> TaskDataAbstract

Definition at line 52 of file com-position.hpp.

◆ Data

template<typename _Scalar>

typedef TaskDataCoMPositionTpl<Scalar> Data

Definition at line 53 of file com-position.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 54 of file com-position.hpp.

◆ StateMultibody

template<typename _Scalar>

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 55 of file com-position.hpp.

◆ Matrix3xs

template<typename _Scalar>

typedef MathBase::Matrix3xs Matrix3xs

Definition at line 56 of file com-position.hpp.

◆ Vector3s

template<typename _Scalar>

typedef MathBase::Vector3s Vector3s

Definition at line 57 of file com-position.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 58 of file com-position.hpp.

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 value and task rate.

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 the task Jacobians.

Implements TaskModelAbstractTpl< _Scalar >.

◆ createData()

template<typename _Scalar>

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

overridevirtual

Allocate task data.

Reimplemented from TaskModelAbstractTpl< _Scalar >.

◆ print()

template<typename _Scalar>

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

overridevirtual

Print relevant information.

Reimplemented from TaskModelAbstractTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 49 of file com-position.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.

◆ q_dependent_

template<typename _Scalar>

bool q_dependent_

protected

Definition at line 116 of file task-base.hpp.

◆ state_

template<typename _Scalar>

std::shared_ptr<StateAbstract> state_

protected

Definition at line 113 of file task-base.hpp.

◆ u_dependent_

template<typename _Scalar>

bool u_dependent_

protected

Definition at line 118 of file task-base.hpp.

◆ v_dependent_

template<typename _Scalar>

bool v_dependent_

protected

Definition at line 117 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/com-position.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ TaskDataAbstract

◆ Data

◆ DataCollectorAbstract

◆ StateMultibody

◆ Matrix3xs

◆ Vector3s

◆ VectorXs

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ print()

Member Data Documentation

◆ Scalar

◆ nr_

◆ nu_

◆ q_dependent_

◆ state_

◆ u_dependent_

◆ v_dependent_