Template Class ResidualModelStateTpl

• Defined in File state.hpp

Inheritance Relationships

Base Type

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

Class Documentation

template<typename _Scalar>
class ResidualModelStateTpl : public crocoddyl::ResidualModelAbstractTpl<_Scalar>

State residual.

This residual function defines the state tracking as \(\mathbf{r}=\mathbf{x}\ominus\mathbf{x}^*\), where \(\mathbf{x},\mathbf{x}^*\in~\mathcal{X}\) are the current and reference states, respectively, which belong to the state manifold \(\mathcal{X}\). Note that the dimension of the residual vector is obtained from StateAbstract::get_ndx(). Furthermore, the Jacobians of the residual function are computed analytically.

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

See also

ResidualModelAbstractTpl, calc(), calcDiff(), createData()

Public Types

typedef MathBaseTpl<Scalar> MathBase

typedef ResidualModelAbstractTpl<Scalar> Base

typedef StateMultibodyTpl<Scalar> StateMultibody

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

ResidualModelStateTpl(std::shared_ptr<typename Base::StateAbstract> state, const VectorXs &xref, const std::size_t nu)

Initialize the state residual model.

Parameters:

• state – [in] State of the multibody system

• xref – [in] Reference state

• nu – [in] Dimension of the control vector

ResidualModelStateTpl(std::shared_ptr<typename Base::StateAbstract> state, const VectorXs &xref)

Initialize the state residual model.

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

Parameters:

• state – [in] State of the multibody system

• xref – [in] Reference state

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

Initialize the state residual model.

The default reference state is obtained from StateAbstractTpl::zero().

Parameters:

• state – [in] State of the multibody system

• nu – [in] Dimension of the control vector

ResidualModelStateTpl(std::shared_ptr<typename Base::StateAbstract> state)

Initialize the state residual model.

The default state reference is obtained from StateAbstractTpl::zero(), and nu from StateAbstractTpl::get_nv().

Parameters:

• state – [in] State of the multibody system

• activation – [in] Activation model

virtual ~ResidualModelStateTpl() = 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 state residual.

Parameters:

• data – [in] State 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, const Eigen::Ref<const VectorXs> &u) override

Compute the Jacobians of the state residual.

Parameters:

• data – [in] State residual data

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

• u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

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 state-cost function and store it in cost data.

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>
ResidualModelStateTpl<NewScalar> cast() const

Cast the state 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:

ResidualModelStateTpl<NewScalar> A residual model with the new scalar type.

const VectorXs &get_reference() const

Return the reference state.

void set_reference(const VectorXs &reference)

Modify the reference state.

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

Print relevant information of the state 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.

std::shared_ptr<StateAbstract> state_

State description.

bool u_dependent_

Label that indicates if the residual function depends on u