Template Class ControlParametrizationModelAbstractTpl

Defined in File control-base.hpp

Inheritance Relationships

Base Type

public crocoddyl::ControlParametrizationModelBase (Class ControlParametrizationModelBase)

Derived Types

public crocoddyl::ControlParametrizationModelNumDiffTpl< _Scalar > (Template Class ControlParametrizationModelNumDiffTpl)
public crocoddyl::ControlParametrizationModelPolyOneTpl< _Scalar > (Template Class ControlParametrizationModelPolyOneTpl)
public crocoddyl::ControlParametrizationModelPolyTwoRKTpl< _Scalar > (Template Class ControlParametrizationModelPolyTwoRKTpl)
public crocoddyl::ControlParametrizationModelPolyZeroTpl< _Scalar > (Template Class ControlParametrizationModelPolyZeroTpl)

Class Documentation

template<typename _Scalar> class ControlParametrizationModelAbstractTpl : public crocoddyl::ControlParametrizationModelBase 

Abstract class for the control trajectory parametrization.

The control trajectory is a function of the (normalized) time. Normalized time is between 0 and 1, where 0 represents the beginning of the time step, and 1 represents its end. The trajectory depends on the control parameters u, whose size may be larger than the size of the control inputs w.

The main computations are carried out in calc, multiplyByJacobian and multiplyJacobianTransposeBy, where the former computes control input \(\mathbf{w}\in\mathbb{R}^{nw}\) from a set of control parameters \(\mathbf{u}\in\mathbb{R}^{nu}\) where nw and nu represent the dimension of the control inputs and parameters, respectively, and the latter defines useful operations across the Jacobian of the control-parametrization model. Finally, params allows us to obtain the control parameters from a the control input, i.e., it is the dual of calc. Note that multiplyByJacobian and multiplyJacobianTransposeBy requires to run calc first.