Template Class ConstraintModelAbstractTpl

Defined in File constraint-base.hpp

Inheritance Relationships

Base Type

public crocoddyl::ConstraintModelBase (Class ConstraintModelBase)

Derived Types

public crocoddyl::ConstraintModelNumDiffTpl< _Scalar > (Template Class ConstraintModelNumDiffTpl)
public crocoddyl::ConstraintModelResidualTpl< _Scalar > (Template Class ConstraintModelResidualTpl)

Class Documentation

template<typename _Scalar> class ConstraintModelAbstractTpl : public crocoddyl::ConstraintModelBase 

Abstract class for constraint models.

A constraint model defines both: inequality \(\mathbf{g}(\mathbf{x}, \mathbf{u})\in\mathbb{R}^{ng}\) and equality \(\mathbf{h}(\mathbf{x}, \mathbf{u})\in\mathbb{R}^{nh}\) constraints. The constraint function depends on the state point \(\mathbf{x}\in\mathcal{X}\), which lies in the state manifold described with a nx-tuple, its velocity \(\dot{\mathbf{x}}\in T_{\mathbf{x}}\mathcal{X}\) that belongs to the tangent space with ndx dimension, and the control input \(\mathbf{u}\in\mathbb{R}^{nu}\).

The main computations are carried out in calc() and calcDiff() routines. calc() computes the constraint residual and calcDiff() computes the Jacobians of the constraint function. Concretely speaking, calcDiff() builds a linear approximation of the constraint function with the form: \(\mathbf{g_x}\in\mathbb{R}^{ng\times ndx}\), \(\mathbf{g_u}\in\mathbb{R}^{ng\times nu}\), \(\mathbf{h_x}\in\mathbb{R}^{nh\times ndx}\) \(\mathbf{h_u}\in\mathbb{R}^{nh\times nu}\). Additionally, it is important to note that calcDiff() computes the derivatives using the latest stored values by calc(). Thus, we need to first run calc().