Public Member Functions | Private Attributes | List of all members
exotica::PinocchioDynamicsSolver Class Reference

#include <pinocchio_dynamics_solver.h>

Inheritance diagram for exotica::PinocchioDynamicsSolver:
Inheritance graph
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Public Member Functions

void AssignScene (ScenePtr scene_in) override
 
void ComputeDerivatives (const StateVector &x, const ControlVector &u) override
 
Eigen::MatrixXd dStateDelta (const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second) override
 
StateVector f (const StateVector &x, const ControlVector &u) override
 
ControlDerivative fu (const StateVector &x, const ControlVector &u) override
 
StateDerivative fx (const StateVector &x, const ControlVector &u) override
 
void Integrate (const StateVector &x, const StateVector &dx, const double dt, StateVector &xout) override
 
ControlVector InverseDynamics (const StateVector &x) override
 
StateVector StateDelta (const StateVector &x_1, const StateVector &x_2) override
 
- Public Member Functions inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
 AbstractDynamicsSolver ()
 
virtual void AssignScene (std::shared_ptr< Scene > scene_in)
 
void ClampToStateLimits (Eigen::Ref< Eigen::VectorXd > state_in)
 
virtual Hessian ddStateDelta (const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second)
 
virtual StateVector F (const StateVector &x, const ControlVector &u)
 
ControlDerivative fu_fd (const StateVector &x, const ControlVector &u)
 
virtual Eigen::Tensor< T, 3 > fuu (const StateVector &x, const ControlVector &u)
 
StateDerivative fx_fd (const StateVector &x, const ControlVector &u)
 
virtual Eigen::Tensor< T, 3 > fxu (const StateVector &x, const ControlVector &u)
 
virtual Eigen::Tensor< T, 3 > fxx (const StateVector &x, const ControlVector &u)
 
const Eigen::MatrixXd & get_control_limits ()
 
T get_dt () const
 
const ControlDerivativeget_Fu () const
 
const ControlDerivativeget_fu () const
 
const StateDerivativeget_Fx () const
 
const StateDerivativeget_fx () const
 
const bool & get_has_second_order_derivatives () const
 
const bool & get_has_state_limits () const
 
Integrator get_integrator () const
 
int get_num_controls () const
 
int get_num_positions () const
 
int get_num_state () const
 
int get_num_state_derivative () const
 
int get_num_velocities () const
 
virtual Eigen::Matrix< T, Eigen::Dynamic, 1 > GetPosition (Eigen::VectorXdRefConst x_in)
 
virtual void InstantiateBase (const Initializer &init)
 
void set_control_limits (Eigen::VectorXdRefConst control_limits_low, Eigen::VectorXdRefConst control_limits_high)
 
void set_integrator (Integrator integrator_in)
 
virtual void SetDt (double dt_in)
 
void SetIntegrator (const std::string &integrator_in)
 
StateVector Simulate (const StateVector &x, const ControlVector &u, T t)
 
void StateDelta (const StateVector &x_1, const StateVector &x_2, Eigen::VectorXdRef xout)
 
virtual ~AbstractDynamicsSolver ()
 
- Public Member Functions inherited from exotica::Object
std::string GetObjectName ()
 
void InstantiateObject (const Initializer &init)
 
 Object ()
 
virtual std::string Print (const std::string &prepend) const
 
virtual std::string type () const
 
virtual ~Object ()
 
- Public Member Functions inherited from exotica::InstantiableBase
 InstantiableBase ()=default
 
virtual ~InstantiableBase ()=default
 
- Public Member Functions inherited from exotica::Instantiable< PinocchioDynamicsSolverInitializer >
std::vector< InitializerGetAllTemplates () const override
 
Initializer GetInitializerTemplate () override
 
const PinocchioDynamicsSolverInitializer & GetParameters () const
 
virtual void Instantiate (const PinocchioDynamicsSolverInitializer &init)
 
void InstantiateInternal (const Initializer &init) override
 

Private Attributes

pinocchio::Model model_
 
std::unique_ptr< pinocchio::Datapinocchio_data_
 
Eigen::VectorXd xdot_analytic_
 

Additional Inherited Members

- Public Types inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
typedef Eigen::Matrix< T, NX, NUControlDerivative
 
typedef Eigen::Matrix< T, NU, 1 > ControlVector
 
typedef Eigen::Matrix< T, NX, NXStateDerivative
 
typedef Eigen::Matrix< T, NX, 1 > StateVector
 
- Public Attributes inherited from exotica::Object
bool debug_
 
std::string ns_
 
std::string object_name_
 
- Protected Member Functions inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
void InitializeSecondOrderDerivatives ()
 
virtual StateVector SimulateOneStep (const StateVector &x, const ControlVector &u)
 
- Protected Attributes inherited from exotica::AbstractDynamicsSolver< class, NX, NU >
Eigen::MatrixXd control_limits_
 
T dt_
 
Eigen::MatrixXd Fu_
 
Eigen::MatrixXd fu_
 
Eigen::Tensor< T, 3 > fuu_default_
 
Eigen::MatrixXd fx_
 
Eigen::MatrixXd Fx_
 
Eigen::Tensor< T, 3 > fxu_default_
 
Eigen::Tensor< T, 3 > fxx_default_
 
bool has_second_order_derivatives_
 
bool has_state_limits_
 
Integrator integrator_
 
int num_controls_
 
int num_positions_
 
int num_state_
 
int num_state_derivative_
 
int num_velocities_
 
bool second_order_derivatives_initialized_
 
Eigen::VectorXd state_limits_lower_
 
Eigen::VectorXd state_limits_upper_
 
- Protected Attributes inherited from exotica::Instantiable< PinocchioDynamicsSolverInitializer >
PinocchioDynamicsSolverInitializer parameters_
 

Detailed Description

Definition at line 54 of file pinocchio_dynamics_solver.h.

Member Function Documentation

void exotica::PinocchioDynamicsSolver::AssignScene ( ScenePtr  scene_in)
override

Definition at line 36 of file pinocchio_dynamics_solver_assign_scene.cpp.

void exotica::PinocchioDynamicsSolver::ComputeDerivatives ( const StateVector x,
const ControlVector u 
)
overridevirtual
Eigen::MatrixXd exotica::PinocchioDynamicsSolver::dStateDelta ( const StateVector x_1,
const StateVector x_2,
const ArgumentPosition  first_or_second 
)
overridevirtual
Eigen::VectorXd exotica::PinocchioDynamicsSolver::f ( const StateVector x,
const ControlVector u 
)
overridevirtual
Eigen::MatrixXd exotica::PinocchioDynamicsSolver::fu ( const StateVector x,
const ControlVector u 
)
overridevirtual
Eigen::MatrixXd exotica::PinocchioDynamicsSolver::fx ( const StateVector x,
const ControlVector u 
)
overridevirtual
void exotica::PinocchioDynamicsSolver::Integrate ( const StateVector x,
const StateVector dx,
const double  dt,
StateVector xout 
)
overridevirtual
Eigen::VectorXd exotica::PinocchioDynamicsSolver::InverseDynamics ( const StateVector x)
overridevirtual
Eigen::VectorXd exotica::PinocchioDynamicsSolver::StateDelta ( const StateVector x_1,
const StateVector x_2 
)
overridevirtual

Member Data Documentation

pinocchio::Model exotica::PinocchioDynamicsSolver::model_
private

Definition at line 69 of file pinocchio_dynamics_solver.h.

std::unique_ptr<pinocchio::Data> exotica::PinocchioDynamicsSolver::pinocchio_data_
private

Definition at line 70 of file pinocchio_dynamics_solver.h.

Eigen::VectorXd exotica::PinocchioDynamicsSolver::xdot_analytic_
private

Definition at line 72 of file pinocchio_dynamics_solver.h.


The documentation for this class was generated from the following files:


exotica_pinocchio_dynamics_solver
Author(s):
autogenerated on Sat Apr 10 2021 02:35:54