Template Class ResidualModelJointEffortTpl

Defined in File joint-effort.hpp

Inheritance Relationships

Base Type

public crocoddyl::ResidualModelAbstractTpl< _Scalar > (Template Class ResidualModelAbstractTpl)

Class Documentation

template<typename _Scalar> class ResidualModelJointEffortTpl : public crocoddyl::ResidualModelAbstractTpl<_Scalar>

Define a joint-effort 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 effort inputs, respectively. Note that the dimension of the residual vector is obtained from ActuationModelAbstract::nu.

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.

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualModelAbstractTpl<Scalar> Base

typedef ResidualDataJointEffortTpl<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

ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state, std::shared_ptr<ActuationModelAbstract> actuation, const VectorXs &uref, const std::size_t nu, const bool fwddyn = false)

Initialize the joint-effort residual model.

Parameters:

state – [in] State description
actuation – [in] Actuation model
uref – [in] Reference joint effort
nu – [in] Dimension of the control vector
fwddyn – [in] Indicates that we have a forward dynamics problem (true) or inverse dynamics (false) (default false)

ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state, std::shared_ptr<ActuationModelAbstract> actuation, const VectorXs &uref)

Initialize the joint-effort residual model.

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

Parameters:

state – [in] State description
actuation – [in] Actuation model
uref – [in] Reference joint effort

ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state, std::shared_ptr<ActuationModelAbstract> actuation, const std::size_t nu)

Initialize the joint-effort residual model.

The default reference joint effort is obtained from MathBaseTpl<>::VectorXs::Zero(actuation->get_nu()).

Parameters:

state – [in] State description
actuation – [in] Actuation model
nu – [in] Dimension of the control vector

ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state, std::shared_ptr<ActuationModelAbstract> actuation)

Initialize the joint-effort residual model.

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

Parameters:

state – [in] State description
actuation – [in] Actuation model

virtual ~ResidualModelJointEffortTpl() = 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-effort residual.

Parameters:

data – [in] Joint-effort 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-effort residual.

Parameters:

data – [in] Joint-effort residual data
x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

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

virtual std::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract *const data) override: Create the joint-effort residual data.

template<typename NewScalar> ResidualModelJointEffortTpl<NewScalar> cast() const

Cast the joint-effort 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:: ResidualModelJointEffortTpl<NewScalar> A residual model with the new scalar type.

const VectorXs &get_reference() const: Return the reference joint-effort vector.

void set_reference(const VectorXs &reference): Modify the reference joint-effort vector.

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

Print relevant information of the joint-effort 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.

bool q_dependent_: Label that indicates if the residual function depends on q

std::shared_ptr<StateAbstract> state_: State description.

bool v_dependent_: Label that indicates if the residual function depends on v