Template Class ResidualModelControlTpl

Defined in File control.hpp

Inheritance Relationships

Base Type

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

Class Documentation

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

Define a control residual.

This residual function is defined as \(\mathbf{r}=\mathbf{u}-\mathbf{u}^*\), where \(\mathbf{u},\mathbf{u}^*\in~\mathbb{R}^{nu}\) are the current and reference control inputs, respectively. Note that the dimension of the residual vector is obtained from nu.

Both residual and residual Jacobians are computed analytically.

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 ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

typedef CostDataAbstractTpl<Scalar> CostDataAbstract

typedef ActivationDataAbstractTpl<Scalar> ActivationDataAbstract

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

ResidualModelControlTpl(std::shared_ptr<typename Base::StateAbstract> state, const VectorXs &uref)

Initialize the control residual model.

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

Parameters:

state – [in] State of the multibody system
uref – [in] Reference control input

ResidualModelControlTpl(std::shared_ptr<typename Base::StateAbstract> state, const std::size_t nu)

Initialize the control residual model.

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

Parameters:

state – [in] State of the multibody system
nu – [in] Dimension of the control vector

explicit ResidualModelControlTpl(std::shared_ptr<typename Base::StateAbstract> state)

Initialize the control residual model.

The default reference control is obtained from MathBaseTpl<>::VectorXs::Zero(nu).

Parameters:: state – [in] State of the multibody system

virtual ~ResidualModelControlTpl() = 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 control residual.

Parameters:

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

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

Compute the residual vector for nodes that depends only on the state.

It updates the residual vector based on the state only. This function is used in the terminal nodes of an optimal control problem.

Parameters:

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

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 control residual.

Parameters:

data – [in] Control 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 control residual data.

virtual void calcCostDiff(const std::shared_ptr<CostDataAbstract> &cdata, const std::shared_ptr<ResidualDataAbstract> &rdata, const std::shared_ptr<ActivationDataAbstract> &adata, const bool update_u = true) override

Compute the derivative of the control-cost function.

This function assumes that the derivatives of the activation and residual are computed via calcDiff functions.

Parameters:

cdata – Cost data
rdata – Residual data
adata – Activation data
update_u – Update the derivative of the cost function w.r.t. to the control if True.

template<typename NewScalar> ResidualModelControlTpl<NewScalar> cast() const

Cast the control 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:: ResidualModelControlTpl<NewScalar> A residual model with the new scalar type.

const VectorXs &get_reference() const: Return the reference control vector.

void set_reference(const VectorXs &reference): Modify the reference control vector.

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

Print relevant information of the control 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.