Template Class ActuationModelAbstractTpl

Defined in File actuation-base.hpp

Inheritance Relationships

Base Type

public crocoddyl::ActuationModelBase (Class ActuationModelBase)

Derived Types

public crocoddyl::ActuationModelFloatingBaseThrustersTpl< _Scalar > (Template Class ActuationModelFloatingBaseThrustersTpl)
public crocoddyl::ActuationModelFloatingBaseTpl< _Scalar > (Template Class ActuationModelFloatingBaseTpl)
public crocoddyl::ActuationModelFullTpl< _Scalar > (Template Class ActuationModelFullTpl)
public crocoddyl::ActuationModelNumDiffTpl< _Scalar > (Template Class ActuationModelNumDiffTpl)
public crocoddyl::ActuationSquashingModelTpl< _Scalar > (Template Class ActuationSquashingModelTpl)

Class Documentation

template<typename _Scalar> class ActuationModelAbstractTpl : public crocoddyl::ActuationModelBase 

Abstract class for the actuation-mapping model.

The generalized torques \(\boldsymbol{\tau}\in\mathbb{R}^{nv}\) can by any nonlinear function of the joint-torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\), and state point \(\mathbf{x}\in\mathbb{R}^{nx}\), where nv, nu, and ndx are the number of joints, dimension of the joint torque input and state manifold, respectively. Additionally, the generalized torques are also named as the actuation signals of our system.

The main computations are carried out in calc(), and calcDiff(), where the former computes actuation signal, and the latter computes the Jacobians of the actuation-mapping function, i.e., \(\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{x}}\) and \(\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{u}}\). Note that calcDiff() requires to run calc() first.