Template Class ResidualModelJointAccelerationTpl

Inheritance Relationships

Base Type

Class Documentation

template<typename _Scalar>
class ResidualModelJointAccelerationTpl : public crocoddyl::ResidualModelAbstractTpl<_Scalar>

Define a joint-acceleration residual.

This residual function is defined as \(\mathbf{r}=\mathbf{u}-\mathbf{u}^*\), where \(\mathbf{u},\mathbf{u}^*\in~\mathbb{R}^{nu}\) are the current and reference joint acceleration, respectively. Note that the dimension of the residual vector is obtained from StateAbstract::nv, as it represents the generalized acceleration.

Both residual and residual Jacobians are computed analytically.

As described in ResidualModelAbstractTpl(), the residual value and its Jacobians are calculated by calc and calcDiff, respectively.

See also

ResidualModelAbstractTpl, calc(), calcDiff(), createData()

Public Types

typedef MathBaseTpl<Scalar> MathBase
typedef ResidualModelAbstractTpl<Scalar> Base
typedef ResidualDataJointAccelerationTpl<Scalar> Data
typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract
typedef StateAbstractTpl<Scalar> StateAbstract
typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract
typedef MathBase::VectorXs VectorXs
typedef MathBase::MatrixXs MatrixXs

Public Functions

ResidualModelJointAccelerationTpl(std::shared_ptr<StateAbstract> state, const VectorXs &aref, const std::size_t nu)

Initialize the joint-acceleration residual model.

Parameters:

  • state – [in] State description

  • aref – [in] Reference joint acceleration

  • nu – [in] Dimension of the control vector

ResidualModelJointAccelerationTpl(std::shared_ptr<StateAbstract> state, const VectorXs &aref)

Initialize the joint-acceleration residual model.

The default nu value is obtained from StateAbstractTpl::get_nv().

Parameters:

  • state – [in] State description

  • aref – [in] Reference joint acceleration

ResidualModelJointAccelerationTpl(std::shared_ptr<StateAbstract> state, const std::size_t nu)

Initialize the joint-acceleration residual model.

The default reference joint acceleration is obtained from MathBaseTpl<>::VectorXs::Zero(state->get_nv()).

Parameters:

  • state – [in] State description

  • nu – [in] Dimension of the control vector

ResidualModelJointAccelerationTpl(std::shared_ptr<StateAbstract> state)

Initialize the joint-acceleration residual model.

The default reference joint acceleration is obtained from MathBaseTpl<>::VectorXs::Zero(state->get_nv()). The default nu value is obtained from StateAbstractTpl::get_nv().

Parameters:

state – [in] State description

virtual ~ResidualModelJointAccelerationTpl() = default
virtual void calc(const std::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &u) override

Compute the joint-acceleration residual.

Parameters:

  • data – [in] Joint-acceleration residual data

  • x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

  • u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

virtual void calc(const std::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs> &x) override

It updates the residual vector based on the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters:

  • data – [in] Residual data

  • x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

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

Compute the derivatives of the joint-acceleration residual.

Parameters:

  • data – [in] Joint-acceleration residual data

  • x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

  • u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

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

Create the joint-acceleration residual data.

template<typename NewScalar>
ResidualModelJointAccelerationTpl<NewScalar> cast() const

Cast the joint-acceleration residual model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters:

NewScalar – The new scalar type to cast to.

Returns:

ResidualModelJointAccelerationTpl<NewScalar> A residual model with the new scalar type.

const VectorXs &get_reference() const

Return the reference joint-acceleration vector.

void set_reference(const VectorXs &reference)

Modify the reference joint-acceleration vector.

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

Print relevant information of the joint-acceleration residual.

Parameters:

os – [out] Output stream object

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Attributes

std::size_t nr_

Residual vector dimension.

std::size_t nu_

Control dimension.

std::shared_ptr<StateAbstract> state_

State description.