Template Class ResidualModelCentroidalMomentumTpl

Inheritance Relationships

Base Type

Class Documentation

template<typename _Scalar>
class ResidualModelCentroidalMomentumTpl : public crocoddyl::ResidualModelAbstractTpl<_Scalar>

Centroidal momentum residual.

This residual function defines the centroidal momentum tracking as \(\mathbf{r}=\mathbf{h}-\mathbf{h}^*\), where \(\mathbf{h},\mathbf{h}^*\in~\mathcal{X}\) are the current and reference centroidal momenta, respectively. Note that the dimension of the residual vector is 6. Furthermore, the Jacobians of the residual function are computed analytically.

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

See also

ResidualModelAbstractTpl, calc(), calcDiff(), createData()

Public Types

typedef MathBaseTpl<Scalar> MathBase
typedef ResidualModelAbstractTpl<Scalar> Base
typedef ResidualDataCentroidalMomentumTpl<Scalar> Data
typedef StateMultibodyTpl<Scalar> StateMultibody
typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract
typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract
typedef MathBase::Vector6s Vector6s
typedef MathBase::VectorXs VectorXs
typedef MathBase::Matrix6xs Matrix6xs

Public Functions

ResidualModelCentroidalMomentumTpl(std::shared_ptr<StateMultibody> state, const Vector6s &href, const std::size_t nu)

Initialize the centroidal momentum residual model.

Parameters:

  • state – [in] State of the multibody system

  • href – [in] Reference centroidal momentum

  • nu – [in] Dimension of the control vector

ResidualModelCentroidalMomentumTpl(std::shared_ptr<StateMultibody> state, const Vector6s &href)

Initialize the centroidal momentum residual model.

The default nu is obtained from StateAbstractTpl::get_nv().

Parameters:

  • state – [in] State of the multibody system

  • href – [in] Reference centroidal momentum

virtual ~ResidualModelCentroidalMomentumTpl() = default
virtual void calc(const std::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &u) override

Compute the centroidal momentum residual.

Parameters:

  • data – [in] Centroidal momentum residual data

  • x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

  • u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

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

Compute the derivatives of the centroidal momentum residual.

Parameters:

  • data – [in] Centroidal momentum residual data

  • x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

  • u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

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

Create the centroidal momentum residual data.

template<typename NewScalar>
ResidualModelCentroidalMomentumTpl<NewScalar> cast() const

Cast the centroidal-momentum 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:

ResidualModelCentroidalMomentumTpl<NewScalar> A residual model with the new scalar type.

const Vector6s &get_reference() const

Return the reference centroidal momentum.

void set_reference(const Vector6s &href)

Modify the reference centroidal momentum.

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

Print relevant information of the centroidal-momentum residual.

Parameters:

os – [out] Output stream object

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Attributes

std::size_t nu_

Control dimension.

std::shared_ptr<StateAbstract> state_

State description.

bool u_dependent_

Label that indicates if the residual function depends on u