Template Class ResidualModelJointEffortTpl

Defined in File joint-effort.hpp

Inheritance Relationships

Base Type

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

Class Documentation

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

Define a joint-effort 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 joint effort inputs, respectively. Note that the dimension of the residual vector is obtained from ActuationModelAbstract::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 ResidualDataJointEffortTpl<Scalar> Data

typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

typedef StateAbstractTpl<Scalar> StateAbstract

typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract

typedef MathBase::VectorXs VectorXs

typedef MathBase::MatrixXs MatrixXs

Public Functions

ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state, std::shared_ptr<ActuationModelAbstract> actuation, const VectorXs &uref, const std::size_t nu, const bool fwddyn = false)

Initialize the joint-effort residual model.

Parameters:

state – [in] State description
actuation – [in] Actuation model
uref – [in] Reference joint effort
nu – [in] Dimension of the control vector
fwddyn – [in] Indicates that we have a forward dynamics problem (true) or inverse dynamics (false) (default false)

ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state, std::shared_ptr<ActuationModelAbstract> actuation, const VectorXs &uref)

Initialize the joint-effort residual model.

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

Parameters:

state – [in] State description
actuation – [in] Actuation model
uref – [in] Reference joint effort

ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state, std::shared_ptr<ActuationModelAbstract> actuation, const std::size_t nu)

Initialize the joint-effort residual model.

The default reference joint effort is obtained from MathBaseTpl<>::VectorXs::Zero(actuation->get_nu()).

Parameters:

state – [in] State description
actuation – [in] Actuation model
nu – [in] Dimension of the control vector

ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state, std::shared_ptr<ActuationModelAbstract> actuation)

Initialize the joint-effort residual model.

The default reference joint effort is obtained from MathBaseTpl<>::VectorXs::Zero(actuation->get_nu()). The default nu value is obtained from StateAbstractTpl::get_nv().

Parameters:

state – [in] State description
actuation – [in] Actuation model

virtual ~ResidualModelJointEffortTpl() = 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 joint-effort residual.

Parameters:

data – [in] Joint-effort 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 joint-effort residual.

Parameters:

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

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

virtual std::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract *const data) override: Create the joint-effort residual data.

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

Cast the joint-effort 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:: ResidualModelJointEffortTpl<NewScalar> A residual model with the new scalar type.

const VectorXs &get_reference() const: Return the reference joint-effort vector.

void set_reference(const VectorXs &reference): Modify the reference joint-effort vector.

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

Print relevant information of the joint-effort residual.

Parameters:: os – [out] Output stream object

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Protected Attributes

std::size_t nr_: Residual vector dimension.

std::size_t nu_: Control dimension.

bool q_dependent_: Label that indicates if the residual function depends on q

std::shared_ptr<StateAbstract> state_: State description.

bool v_dependent_: Label that indicates if the residual function depends on v