Template Class ResidualModelContactFrictionConeTpl

Defined in File contact-friction-cone.hpp

Inheritance Relationships

Base Type

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

Class Documentation

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

Contact friction cone residual.

This residual function is defined as \(\mathbf{r}=\mathbf{A}\boldsymbol{\lambda}\), where \(\mathbf{A}\in~\mathbb{R}^{nr\times nc}\) describes the linearized friction cone, \(\boldsymbol{\lambda}\in~\mathbb{R}^{nc}\) is the spatial contact forces computed by DifferentialActionModelContactFwdDynamicsTpl, and nr, nc are the number of cone facets and dimension of the contact, respectively.

Both residual and residual Jacobians are computed analytically, where th force vector \(\boldsymbol{\lambda}\) and its Jacobians \(\left(\frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{x}}, \frac{\partial\boldsymbol{\lambda}}{\partial\mathbf{u}}\right)\) are computed by DifferentialActionModelContactFwdDynamicsTpl or ActionModelImpulseFwdDynamicTpl. These values are stored in a shared data (i.e. DataCollectorContactTpl or DataCollectorImpulseTpl). Note that this residual function cannot be used with other action models.

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