Class DifferentialActionModelFreeInvDynamicsTpl::ResidualModelActuation

Defined in File free-invdyn.hpp

Nested Relationships

This class is a nested type of Template Class DifferentialActionModelFreeInvDynamicsTpl.

Inheritance Relationships

Base Type

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

Class Documentation

class ResidualModelActuation : public crocoddyl::ResidualModelAbstractTpl<_Scalar>

Actuation residual.

This residual function enforces the torques of under-actuated joints (e.g., floating-base joints) to be zero. We compute these torques and their derivatives using RNEA inside DifferentialActionModelFreeInvDynamicsTpl.

As described in ResidualModelAbstractTpl, the residual value and its Jacobians are calculated by calc and calcDiff, respectively.

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualModelAbstractTpl<Scalar> Base

typedef StateMultibodyTpl<Scalar> StateMultibody

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CROCODDYL_INNER_DERIVED_CAST (ResidualModelBase, DifferentialActionModelFreeInvDynamicsTpl, ResidualModelActuation) typedef _Scalar Scalar

inline ResidualModelActuation(std::shared_ptr<StateMultibody> state, const std::size_t nu)

Initialize the actuation residual model.

Parameters:

state – [in] State of the multibody system
nu – [in] Dimension of the joint torques

virtual ~ResidualModelActuation() = default

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

Compute the actuation residual.

Parameters:

data – [in] Actuation residual data
x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nv+nu}\)

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

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

Compute the derivatives of the actuation residual.

Parameters:

data – [in] Actuation residual data
x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

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

inline virtual std::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract *const data) override

Create the actuation residual data.

Returns:: Actuation residual data

template<typename NewScalar> inline DifferentialActionModelFreeInvDynamicsTpl<NewScalar>::ResidualModelActuation cast() const

Cast the actuation-residual model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters:: NewScalar – The new scalar type to cast to.
Returns:: typename DifferentialActionModelFreeInvDynamicsTpl<NewScalar>::ResidualModelActuation A residual model with the new scalar type.

inline virtual void print(std::ostream &os) const override

Print relevant information of the actuation residual model.

Parameters:: os – [out] Output stream object

Protected Attributes

std::size_t na_: Dimension of the joint torques.

std::size_t nu_: Control dimension.

std::shared_ptr<StateAbstract> state_: State description.