Template Class ControlParametrizationModelPolyOneTpl

Defined in File poly-one.hpp

Inheritance Relationships

Base Type

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

Class Documentation

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

A polynomial function of time of degree one, that is a linear function.

The size of the parameters \(\mathbf{u}\) is twice the size of the control input \(\mathbf{w}\). The first half of \(\mathbf{u}\) represents the value of w at time 0. The second half of \(\mathbf{u}\) represents the value of \(\mathbf{w}\) at time 0.5.

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 the control input, i.e., it is the inverse of calc. Note that multiplyByJacobian and multiplyJacobianTransposeBy requires to run calc first.