Frame placement task model. More...

#include <frame-placement.hpp>

Inheritance diagram for TaskModelFramePlacementTpl< _Scalar >:

Public Types
typedef TaskModelAbstractTpl< Scalar >	Base
typedef TaskDataFramePlacementTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix3s	Matrix3s
typedef MathBase::Matrix6s	Matrix6s
typedef pinocchio::MotionTpl< Scalar >	Motion
typedef pinocchio::SE3Tpl< Scalar >	SE3
typedef StateMultibodyTpl< Scalar >	StateMultibody
typedef TaskDataAbstractTpl< Scalar >	TaskDataAbstract
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
	TaskModelFramePlacementTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref)
	Construct a frame placement task using the default control dimension.
	TaskModelFramePlacementTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const pinocchio::ReferenceFrame type)
	Construct a frame placement task with an explicit reference frame.
	TaskModelFramePlacementTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const pinocchio::ReferenceFrame type, const std::size_t nu)
	Construct a frame placement task with an explicit reference frame.
	TaskModelFramePlacementTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const SE3 &pref, const std::size_t nu)
	Construct a frame placement 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>
TaskModelFramePlacementTpl< 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.
pinocchio::FrameIndex	get_id () const
	Return the frame index.
const SE3 &	get_reference () const
	Return the reference placement.
pinocchio::ReferenceFrame	get_type () const
	Return the reference frame convention.
virtual void	print (std::ostream &os) const override
	Print relevant information.
void	set_id (const pinocchio::FrameIndex id)
	Update the frame index.
void	set_reference (const SE3 &reference)
	Update the reference placement.
void	set_type (const pinocchio::ReferenceFrame type)
	Update the reference frame convention.
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::TaskModelFramePlacementTpl< _Scalar >

Frame placement task model.

The task quantity is a 6D pose error expressed in the selected reference frame. Let be the current frame placement, $M_{\mathrm{ref}}$ the absolute reference placement, and

$\‍[ y_L = \log_6\!\left(M_{\mathrm{ref}}^{-1} M\right). \‍]$

The three conventions are

$\‍[\begin{aligned} \mathrm{LOCAL}:\quad & y = y_L, \\ \mathrm{WORLD}:\quad & y = \log_6\!\left(M M_{\mathrm{ref}}^{-1}\right), \\ \mathrm{LOCAL\_WORLD\_ALIGNED}:\quad & y = \begin{bmatrix}R&0\\0&R\end{bmatrix} y_L. \end{aligned} \‍]$

The reference placement is always an absolute pose in the world. The task rate and acceleration use the same reference-frame convention as the error:

$\‍[ v = {}^{\mathrm{rf}}\!V_f,\qquad a = {}^{\mathrm{rf}}\!A_f. \‍]$

Here ${}^{\mathrm{rf}}\!V_f$ and ${}^{\mathrm{rf}}\!A_f$ are the frame spatial velocity and acceleration expressed in the selected reference frame.

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

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 56 of file frame-placement.hpp.

◆ Base

template<typename _Scalar>

typedef TaskModelAbstractTpl<Scalar> Base

Definition at line 57 of file frame-placement.hpp.

◆ TaskDataAbstract

template<typename _Scalar>

typedef TaskDataAbstractTpl<Scalar> TaskDataAbstract

Definition at line 58 of file frame-placement.hpp.

◆ Data

template<typename _Scalar>

typedef TaskDataFramePlacementTpl<Scalar> Data

Definition at line 59 of file frame-placement.hpp.

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 60 of file frame-placement.hpp.

◆ StateMultibody

template<typename _Scalar>

typedef StateMultibodyTpl<Scalar> StateMultibody

Definition at line 61 of file frame-placement.hpp.

◆ Matrix3s

template<typename _Scalar>

typedef MathBase::Matrix3s Matrix3s

Definition at line 62 of file frame-placement.hpp.

◆ Matrix6s

template<typename _Scalar>

typedef MathBase::Matrix6s Matrix6s

Definition at line 63 of file frame-placement.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 64 of file frame-placement.hpp.

◆ Motion

template<typename _Scalar>

typedef pinocchio::MotionTpl<Scalar> Motion

Definition at line 65 of file frame-placement.hpp.

◆ SE3

template<typename _Scalar>

typedef pinocchio::SE3Tpl<Scalar> SE3

Definition at line 66 of file frame-placement.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 55 of file frame-placement.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/frame-placement.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ TaskDataAbstract

◆ Data

◆ DataCollectorAbstract

◆ StateMultibody

◆ Matrix3s

◆ Matrix6s

◆ VectorXs

◆ Motion

◆ SE3

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ print()

Member Data Documentation

◆ Scalar

◆ nr_

◆ nu_

◆ q_dependent_

◆ state_

◆ u_dependent_

◆ v_dependent_