Template Class ResidualModelContactWrenchConeTpl

Defined in File contact-wrench-cone.hpp

Inheritance Relationships

Base Type

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

Class Documentation

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

Contact wrench cone residual function.

This residual function is defined as \(\mathbf{r}=\mathbf{A}\boldsymbol{\lambda}\), where \(\mathbf{A}\) is the inequality matrix defined by the contact wrench cone, and \(\boldsymbol{\lambda}\) is the current spatial forces. The current spatial forces \(\boldsymbol{\lambda}\in\mathbb{R}^{nc}\) is computed by DifferentialActionModelContactFwdDynamicsTpl or ActionModelImpulseFwdDynamicTpl, with nc as the dimension of the contact.

Both residual and residual Jacobians are computed analytically, where the 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.