Template Class ResidualModelImpulseCoMTpl

Defined in File impulse-com.hpp

Inheritance Relationships

Base Type

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

Class Documentation

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

Impulse CoM residual.

This residual function is defined as \(\mathbf{r}=\mathbf{J}_{com}*(\mathbf{v}_{next}-\mathbf{v})\), \(\mathbf{J}_{com}\in\mathbb{R}^{3\times nv}\) is the CoM Jacobian, and \(\mathbf{v}_{next},\mathbf{v}\in T_{\mathbf{q}}\mathcal{Q}\) are the generalized velocities after and before the impulse, respectively. Note that the dimension of the residual vector is 3. 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.