Template Class ActuationModelFullTpl

• Defined in File full.hpp

Inheritance Relationships

Base Type

• public crocoddyl::ActuationModelAbstractTpl< _Scalar > (Template Class ActuationModelAbstractTpl)

Class Documentation

template<typename _Scalar>
class ActuationModelFullTpl : public crocoddyl::ActuationModelAbstractTpl<_Scalar>

Full actuation model.

This actuation model applies input controls for all the nv dimensions of the system.

Both actuation and Jacobians are computed analytically by calc and calcDiff, respectively.

See also

ActuationModelAbstractTpl, calc(), calcDiff(), createData()

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ActuationModelAbstractTpl<Scalar> Base

typedef ActuationDataAbstractTpl<Scalar> Data

typedef StateAbstractTpl<Scalar> StateAbstract

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

inline explicit ActuationModelFullTpl(std::shared_ptr<StateAbstract> state)

Initialize the full actuation model.

Parameters:

state – [in] State of the dynamical system

virtual ~ActuationModelFullTpl() = default

inline virtual void calc(const std::shared_ptr<Data> &data, const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs> &u) override

Compute the full actuation.

Parameters:

• data – [in] Full actuation data

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

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

inline virtual void calcDiff(const std::shared_ptr<Data> &data, const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) override

Compute the Jacobians of the full actuation model.

Parameters:

• data – [in] Full actuation data

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

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

inline virtual void commands(const std::shared_ptr<Data> &data, const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs> &tau) override

inline virtual void torqueTransform(const std::shared_ptr<Data> &data, const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) override

inline virtual std::shared_ptr<Data> createData() override

Create the full actuation data.

Parameters:

data – [in] shared data (it should be of type DataCollectorContactTpl)

Returns:

the cost data.

template<typename NewScalar>
inline ActuationModelFullTpl<NewScalar> cast() const

inline 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 nu_

Dimension of joint torque inputs.

std::shared_ptr<StateAbstract> state_

Model of the state.