Class DifferentialActionModelContactInvDynamicsTpl::ResidualModelContact

Nested Relationships

This class is a nested type of Template Class DifferentialActionModelContactInvDynamicsTpl.

Inheritance Relationships

Base Type

Class Documentation

class ResidualModelContact : public crocoddyl::ResidualModelAbstractTpl<_Scalar>

Contact-acceleration residual.

This residual function is defined as \(\mathbf{r} = \mathbf{a_0}\), where \(\mathbf{a_0}\) defines the desired contact acceleration, which might also include the Baumgarte stabilization gains. Furthermore, the Jacobians of the residual function are computed analytically. This is used by ConstraintModelManagerTpl inside parent DifferentialActionModelContactInvDynamicsTpl class.

As described in ResidualModelAbstractTpl, the residual value and its Jacobians 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 DataCollectorAbstractTpl<Scalar> DataCollectorAbstract
typedef MathBase::VectorXs VectorXs
typedef MathBase::MatrixXs MatrixXs

Public Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CROCODDYL_INNER_DERIVED_CAST (ResidualModelBase, DifferentialActionModelContactInvDynamicsTpl, ResidualModelContact) typedef _Scalar Scalar
inline ResidualModelContact(std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, const std::size_t nr, const std::size_t nc)

Initialize the contact-acceleration residual model.

Parameters:

  • state – [in] State of the multibody system

  • id – [in] Contact frame id

  • nr – [in] Dimension of the contact-acceleration residual

  • nc – [in] Dimension of all contacts

virtual ~ResidualModelContact() = default
inline virtual void calc(const std::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) override

Compute the contact-acceleration residual.

Parameters:

  • data – [in] Contact-acceleration residual data

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

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

inline virtual void calc(const std::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs>&) 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 \(\mathbf{x}\in\mathbb{R}^{ndx}\)

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

Compute the derivatives of the contact-acceleration residual.

Parameters:

  • data – [in] Contact-acceleration residual data

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

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

inline virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract> &data, const Eigen::Ref<const VectorXs>&) override
inline virtual std::shared_ptr<ResidualDataAbstract> createData(DataCollectorAbstract *const data) override

Create the contact-acceleration residual data.

Returns:

contact-acceleration residual data

template<typename NewScalar>
inline DifferentialActionModelContactInvDynamicsTpl<NewScalar>::ResidualModelContact cast() const

Cast the contact-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:

typename DifferentialActionModelContactInvDynamicsTpl<NewScalar>::ResidualModelContact A residual model with the new scalar type.

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

Print relevant information of the contact-acceleration residual model.

Parameters:

os – [out] Output stream object

Protected Attributes

std::size_t nr_

Residual vector dimension.

std::size_t nu_

Control dimension.

std::shared_ptr<StateAbstract> state_

State description.