Frame rotation task model. More...

#include <frame-rotation.hpp>

Inheritance diagram for TaskModelFrameRotationTpl< _Scalar >:

Public Types
typedef TaskModelAbstractTpl< Scalar >	Base
typedef TaskDataFrameRotationTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
typedef MathBase::Matrix3s	Matrix3s
typedef MathBase::Matrix6xs	Matrix6xs
typedef pinocchio::MotionTpl< Scalar >	Motion
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
	TaskModelFrameRotationTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Matrix3s &Rref)
	Construct a frame rotation task with LOCAL reference frame.
	TaskModelFrameRotationTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Matrix3s &Rref, const pinocchio::ReferenceFrame type, const std::size_t nu)
	Construct a frame rotation task with an explicit reference frame.
	TaskModelFrameRotationTpl (std::shared_ptr< StateMultibody > state, const pinocchio::FrameIndex id, const Matrix3s &Rref, const std::size_t nu)
	Construct a frame rotation task with LOCAL reference frame.
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>
TaskModelFrameRotationTpl< 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 Matrix3s &	get_reference () const
	Return the reference rotation.
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 Matrix3s &reference)
	Update the reference rotation.
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::TaskModelFrameRotationTpl< _Scalar >

Frame rotation task model.

The task quantity is a log-map rotation error. The reference frame selects the convention:

LOCAL: $y = \log(R_{\mathrm{ref}}^T R)$ , $v = J_{\log}(y)\,{}^f\omega$ , and $a = J_{\log}(y)\,{}^f\alpha$ ;
WORLD and LOCAL_WORLD_ALIGNED: $y = \log(R R_{\mathrm{ref}}^T)$ , $v = J_{\log}(y)\,{}^o\omega$ , and $a = J_{\log}(y)\,{}^o\alpha$ .

WORLD and LOCAL_WORLD_ALIGNED are equivalent here because only the angular component is used.

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

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

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

◆ Base

template<typename _Scalar>

typedef TaskModelAbstractTpl<Scalar> Base

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

◆ TaskDataAbstract

template<typename _Scalar>

typedef TaskDataAbstractTpl<Scalar> TaskDataAbstract

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

◆ Data

template<typename _Scalar>

typedef TaskDataFrameRotationTpl<Scalar> Data

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

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

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

◆ StateMultibody

template<typename _Scalar>

typedef StateMultibodyTpl<Scalar> StateMultibody

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

◆ Matrix3s

template<typename _Scalar>

typedef MathBase::Matrix3s Matrix3s

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

◆ Matrix6xs

template<typename _Scalar>

typedef MathBase::Matrix6xs Matrix6xs

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

◆ Vector3s

template<typename _Scalar>

typedef MathBase::Vector3s Vector3s

Definition at line 51 of file frame-rotation.hpp.

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

Definition at line 52 of file frame-rotation.hpp.

◆ Motion

template<typename _Scalar>

typedef pinocchio::MotionTpl<Scalar> Motion

Definition at line 53 of file frame-rotation.hpp.

Constructor & Destructor Documentation

◆ TaskModelFrameRotationTpl()

template<typename _Scalar>

TaskModelFrameRotationTpl	(	std::shared_ptr< StateMultibody >	state,
		const pinocchio::FrameIndex	id,
		const Matrix3s &	Rref,
		const std::size_t	nu )

Construct a frame rotation task with LOCAL reference frame.

The task dimension is fixed to 3 and the task does not depend on the control input.

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 42 of file frame-rotation.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-rotation.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ TaskDataAbstract

◆ Data

◆ DataCollectorAbstract

◆ StateMultibody

◆ Matrix3s

◆ Matrix6xs

◆ Vector3s

◆ VectorXs

◆ Motion

Constructor & Destructor Documentation

◆ TaskModelFrameRotationTpl()

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ print()

Member Data Documentation

◆ Scalar

◆ nr_

◆ nu_

◆ q_dependent_

◆ state_

◆ u_dependent_

◆ v_dependent_