Template Class ResidualModelContactControlGravTpl

Defined in File contact-control-gravity.hpp

Inheritance Relationships

Base Type

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

Class Documentation

template<typename _Scalar> class ResidualModelContactControlGravTpl : public crocoddyl::ResidualModelAbstractTpl<_Scalar>

Control gravity residual under contact.

This residual function is defined as \(\mathbf{r}=\mathbf{u}-(\mathbf{g}(\mathbf{q}) - \sum \mathbf{J}_c(\mathbf{q})^{\top} \mathbf{f}_c)\), where \(\mathbf{u}\in~\mathbb{R}^{nu}\) is the current control input, \(\mathbf{J}_c(\mathbf{q})\) is the contact Jacobians, \(\mathbf{f}_c\) contains the contact forces, \(\mathbf{g}(\mathbf{q})\) is the gravity torque corresponding to the current configuration, \(\mathbf{q}\in~\mathbb{R}^{nq}\) is the current position joints input. Note that the dimension of the residual vector is obtained from state->get_nv().

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