Nonlinear centroidal forward dynamics with smooth control. More...

#include <aligator/modelling/dynamics/continuous-centroidal-fwd.hpp>

Inheritance diagram for aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >:

Collaboration diagram for aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >:

Public Types
using	Scalar = _Scalar

using	Base = ODEAbstractTpl<Scalar>

using	BaseData = ODEDataTpl<Scalar>

using	ContDataAbstract = ContinuousDynamicsDataTpl<Scalar>

using	Data = ContinuousCentroidalFwdDataTpl<Scalar>

using	Manifold = proxsuite::nlp::VectorSpaceTpl<Scalar>

using	ManifoldPtr = shared_ptr<Manifold>

using	Matrix3s = Eigen::Matrix<Scalar, 3, 3>

using	ContactMap = ContactMapTpl<Scalar>

Public Types inherited from aligator::dynamics::ODEAbstractTpl< _Scalar >
using	Scalar = _Scalar

using	Base = ContinuousDynamicsAbstractTpl<Scalar>

using	Data = ODEDataTpl<Scalar>

Public Types inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
using	Scalar = _Scalar

using	Manifold = ManifoldAbstractTpl<Scalar>

using	ManifoldPtr = shared_ptr<Manifold>

using	Data = ContinuousDynamicsDataTpl<Scalar>

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

const Manifold &	space () const

	ContinuousCentroidalFwdDynamicsTpl (const ManifoldPtr &state, const double mass, const Vector3s &gravity, const ContactMap &contact_map, const int force_size)

void	forward (const ConstVectorRef &x, const ConstVectorRef &u, BaseData &data) const
	Evaluate the ODE vector field: this returns the value of \(\dot{x}\).

void	dForward (const ConstVectorRef &x, const ConstVectorRef &, BaseData &data) const
	Evaluate the vector field Jacobians.

shared_ptr< ContDataAbstract >	createData () const
	Create a data holder instance.

Public Member Functions inherited from aligator::dynamics::ODEAbstractTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

virtual	~ODEAbstractTpl ()=default

void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const override

void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const override

Public Member Functions inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

int	ndx () const

int	nu () const

const Manifold &	space () const
	Return a reference to the state space.

	ContinuousDynamicsAbstractTpl (ManifoldPtr space, const int nu)

virtual	~ContinuousDynamicsAbstractTpl ()=default

virtual void	evaluate (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const =0
	Evaluate the vector field at a point \((x, u)\).

virtual void	computeJacobians (const ConstVectorRef &x, const ConstVectorRef &u, const ConstVectorRef &xdot, Data &data) const =0
	Differentiate the vector field.

Public Attributes
ManifoldPtr	space_

std::size_t	nk_

double	mass_

Vector3s	gravity_

ContactMap	contact_map_

int	force_size_

Public Attributes inherited from aligator::dynamics::ODEAbstractTpl< _Scalar >
const int	nu_
	Control space dimension.

ManifoldPtr	space_
	State space.

Public Attributes inherited from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >
ManifoldPtr	space_
	State space.

const int	nu_
	Control space dimension.

Detailed Description

template<typename _Scalar>
struct aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >

Nonlinear centroidal forward dynamics with smooth control.

This is described in state-space \(\mathcal{X} = T\mathcal{Q}\) (the phase space \(x = (c,h,L,u)\) with c CoM position, h linear momentum, L angular momentum and u forces) using the differential equation

\[ \dot{x} = f(x, u) = F_x * x + F_u(x) * u \]

as described by the Newton-Euler law of momentum. Control parameter is set to be the derivative of u to ensure force smoothness.

Definition at line 25 of file continuous-centroidal-fwd.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

using aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::Scalar = _Scalar

Definition at line 27 of file continuous-centroidal-fwd.hpp.

◆ Base

template<typename _Scalar >

using aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::Base = ODEAbstractTpl<Scalar>

Definition at line 29 of file continuous-centroidal-fwd.hpp.

◆ BaseData

template<typename _Scalar >

using aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::BaseData = ODEDataTpl<Scalar>

Definition at line 30 of file continuous-centroidal-fwd.hpp.

◆ ContDataAbstract

template<typename _Scalar >

using aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::ContDataAbstract = ContinuousDynamicsDataTpl<Scalar>

Definition at line 31 of file continuous-centroidal-fwd.hpp.

◆ Data

template<typename _Scalar >

using aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::Data = ContinuousCentroidalFwdDataTpl<Scalar>

Definition at line 32 of file continuous-centroidal-fwd.hpp.

◆ Manifold

template<typename _Scalar >

using aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::Manifold = proxsuite::nlp::VectorSpaceTpl<Scalar>

Definition at line 33 of file continuous-centroidal-fwd.hpp.

◆ ManifoldPtr

template<typename _Scalar >

using aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::ManifoldPtr = shared_ptr<Manifold>

Definition at line 34 of file continuous-centroidal-fwd.hpp.

◆ Matrix3s

template<typename _Scalar >

using aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::Matrix3s = Eigen::Matrix<Scalar, 3, 3>

Definition at line 35 of file continuous-centroidal-fwd.hpp.

◆ ContactMap

template<typename _Scalar >

using aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::ContactMap = ContactMapTpl<Scalar>

Definition at line 36 of file continuous-centroidal-fwd.hpp.

Constructor & Destructor Documentation

◆ ContinuousCentroidalFwdDynamicsTpl()

template<typename _Scalar >

aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::ContinuousCentroidalFwdDynamicsTpl	(	const ManifoldPtr &	state,
		const double	mass,
		const Vector3s &	gravity,
		const ContactMap &	contact_map,
		const int	force_size )

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::ALIGATOR_DYNAMIC_TYPEDEFS ( Scalar )

◆ space()

template<typename _Scalar >

const Manifold & aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::space ( ) const

inline

Definition at line 47 of file continuous-centroidal-fwd.hpp.

◆ forward()

template<typename _Scalar >

void aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::forward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		BaseData &	data ) const

virtual

Evaluate the ODE vector field: this returns the value of \(\dot{x}\).

Implements aligator::dynamics::ODEAbstractTpl< _Scalar >.

◆ dForward()

template<typename _Scalar >

void aligator::dynamics::ContinuousCentroidalFwdDynamicsTpl< _Scalar >::dForward	(	const ConstVectorRef &	x,
		const ConstVectorRef &	u,
		BaseData &	data ) const