Joint-position task model. More...

#include <joint-position.hpp>

Inheritance diagram for TaskModelJointPositionTpl< _Scalar >:

Public Types
typedef TaskModelAbstractTpl< Scalar >	Base
typedef TaskDataJointPositionTpl< Scalar >	Data
typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract
typedef MathBaseTpl< Scalar >	MathBase
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
	TaskModelJointPositionTpl (std::shared_ptr< StateMultibody > state, const VectorXs &xref)
	Initialize with a state reference and zero acceleration reference.
	TaskModelJointPositionTpl (std::shared_ptr< StateMultibody > state, const VectorXs &xref, const std::size_t nu)
	Initialize with a state reference and zero acceleration reference.
	TaskModelJointPositionTpl (std::shared_ptr< StateMultibody > state, const VectorXs &xref, const VectorXs &aref)
	Initialize with state and acceleration references.
	TaskModelJointPositionTpl (std::shared_ptr< StateMultibody > state, const VectorXs &xref, const VectorXs &aref, const std::size_t nu)
	Initialize with state and acceleration 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>
TaskModelJointPositionTpl< 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 VectorXs &	get_acceleration_reference () const
const VectorXs &	get_reference () const
virtual void	print (std::ostream &os) const override
	Print relevant information about the task model.
void	set_acceleration_reference (const VectorXs &aref)
void	set_reference (const VectorXs &xref)
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::TaskModelJointPositionTpl< _Scalar >

Joint-position task model.

Let

$\‍[ \operatorname{diff}(x_{\mathrm{ref}},x)= \begin{bmatrix}e_q\\e_v\end{bmatrix}. \‍]$

The task defines

$\‍[ y=e_q, \qquad v=e_v, \qquad a=\ddot q-\ddot q_{\mathrm{ref}}. \‍]$

Combined with proportional and derivative convergence gains, this yields $\ddot q-\ddot q_{\mathrm{ref}}+K_d e_v+K_p e_q$ .

The generalized acceleration is read from shared joint data when available. Otherwise, it is read from the shared Pinocchio ddq cache. Acceleration derivatives with respect to the action-model variables require shared joint data.

Definition at line 42 of file joint-position.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar>

typedef MathBaseTpl<Scalar> MathBase

Definition at line 48 of file joint-position.hpp.

◆ Base

template<typename _Scalar>

typedef TaskModelAbstractTpl<Scalar> Base

Definition at line 49 of file joint-position.hpp.

◆ Data

template<typename _Scalar>

typedef TaskDataJointPositionTpl<Scalar> Data

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

◆ TaskDataAbstract

template<typename _Scalar>

typedef TaskDataAbstractTpl<Scalar> TaskDataAbstract

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

◆ DataCollectorAbstract

template<typename _Scalar>

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

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

◆ StateMultibody

template<typename _Scalar>

typedef StateMultibodyTpl<Scalar> StateMultibody

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

◆ VectorXs

template<typename _Scalar>

typedef MathBase::VectorXs VectorXs

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

Constructor & Destructor Documentation

◆ TaskModelJointPositionTpl() [1/4]

template<typename _Scalar>

TaskModelJointPositionTpl	(	std::shared_ptr< StateMultibody >	state,
		const VectorXs &	xref,
		const VectorXs &	aref,
		const std::size_t	nu )

Initialize with state and acceleration references.

Parameters

[in]	state	State of the multibody system
[in]	xref	Reference state containing configuration and velocity
[in]	aref	Reference generalized acceleration
[in]	nu	Dimension of the control vector

◆ TaskModelJointPositionTpl() [2/4]

template<typename _Scalar>

TaskModelJointPositionTpl	(	std::shared_ptr< StateMultibody >	state,
		const VectorXs &	xref,
		const VectorXs &	aref )

Initialize with state and acceleration references.

The default control dimension is state.nv.

Parameters

[in]	state	State of the multibody system
[in]	xref	Reference state containing configuration and velocity
[in]	aref	Reference generalized acceleration

◆ TaskModelJointPositionTpl() [3/4]

template<typename _Scalar>

TaskModelJointPositionTpl	(	std::shared_ptr< StateMultibody >	state,
		const VectorXs &	xref,
		const std::size_t	nu )

Initialize with a state reference and zero acceleration reference.

Parameters

[in]	state	State of the multibody system
[in]	xref	Reference state containing configuration and velocity
[in]	nu	Dimension of the control vector

◆ TaskModelJointPositionTpl() [4/4]

template<typename _Scalar>

TaskModelJointPositionTpl	(	std::shared_ptr< StateMultibody >	state,
		const VectorXs &	xref )

Initialize with a state reference and zero acceleration reference.

The default control dimension is state.nv.

Parameters

[in]	state	State of the multibody system
[in]	xref	Reference state containing configuration and velocity

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 joint-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.

◆ 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/joint-position.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ Base

◆ Data

◆ TaskDataAbstract

◆ DataCollectorAbstract

◆ StateMultibody

◆ VectorXs

Constructor & Destructor Documentation

◆ TaskModelJointPositionTpl() [1/4]

◆ TaskModelJointPositionTpl() [2/4]

◆ TaskModelJointPositionTpl() [3/4]

◆ TaskModelJointPositionTpl() [4/4]

Member Function Documentation

◆ calc()

◆ calcDiff()

◆ createData()

◆ print()

Member Data Documentation

◆ Scalar

◆ nr_

◆ nu_

◆ state_