Template Class ActuationSquashingModelTpl

Defined in File actuation-squashing.hpp

Inheritance Relationships

Base Type

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

Class Documentation

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

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ActuationModelAbstractTpl<Scalar> Base

typedef ActuationSquashingDataTpl<Scalar> Data

typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract

typedef SquashingModelAbstractTpl<Scalar> SquashingModelAbstract

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

inline ActuationSquashingModelTpl(std::shared_ptr<Base> actuation, std::shared_ptr<SquashingModelAbstract> squashing, const std::size_t nu)

virtual ~ActuationSquashingModelTpl() = default

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

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

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

inline virtual std::shared_ptr<ActuationDataAbstract> createData() override

Create the actuation data.

Returns:: the actuation data

template<typename NewScalar> inline ActuationSquashingModelTpl<NewScalar> cast() const

inline const std::shared_ptr<SquashingModelAbstract> &get_squashing() const

inline const std::shared_ptr<Base> &get_actuation() const

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Functions

virtual void torqueTransform(const std::shared_ptr<ActuationDataAbstract> &data, const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &u)

Compute the torque transform from generalized torques to joint torque inputs.

It stores the results in ActuationDataAbstractTpl::Mtau.

Parameters:

data – [in] Actuation data
x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
tau – [in] Joint-torque inputs \(\mathbf{u}\in\mathbb{R}^{nu}\)

Protected Attributes

std::shared_ptr<SquashingModelAbstract> squashing_

std::shared_ptr<Base> actuation_

std::size_t nu_: Dimension of joint torque inputs.