Nonlinear centroidal and full kinematics forward dynamics. More...

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

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

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

Public Types
using	Scalar = _Scalar

using	Base = ODEAbstractTpl<Scalar>

using	BaseData = ContinuousDynamicsDataTpl<Scalar>

using	ContDataAbstract = ContinuousDynamicsDataTpl<Scalar>

using	Data = KinodynamicsFwdDataTpl<Scalar>

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

using	Model = pinocchio::ModelTpl<Scalar>

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

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

using	Base = ContinuousDynamicsAbstractTpl<Scalar>

using	Data = ContinuousDynamicsDataTpl<Scalar>

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

using	Manifold

using	ManifoldPtr

using	Data

Public Member Functions
	ALIGATOR_DYNAMIC_TYPEDEFS (Scalar)

const Manifold &	space () const

	KinodynamicsFwdDynamicsTpl (const Manifold &state, const Model &model, const Vector3s &gravity, const std::vector< bool > &contact_states, const std::vector< pinocchio::FrameIndex > &contact_ids, 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 &u, 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
Manifold	space_

Model	pin_model_

double	mass_

Vector3s	gravity_

int	force_size_

std::vector< bool >	contact_states_

std::vector< pinocchio::FrameIndex >	contact_ids_

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::KinodynamicsFwdDynamicsTpl< _Scalar >

Nonlinear centroidal and full kinematics forward dynamics.

This is described in state-space \(\mathcal{X} = T\mathcal{Q}\) (the phase space \(x = (q,v)\) with q kinematics pose and v joint velocity) using the differential equation \( \dot{q} = v \) and \( \dot{v} = \begin{bmatrix} a_u \\ a_j \end{bmatrix} \), with \(a_u\) base acceleration computed from centroidal Newton-Euler law of momentum ( \( \dot{H} = \dot{A}\dot{q} + A\ddot{q} = \begin{bmatrix} \sum_i=1^{n_k} f_i + mg \\ \sum_i=1^{n_k} (p_i - c) \times f_i \end{bmatrix} \) ) and \(a_j\) commanded joints acceleration.

Definition at line 29 of file kinodynamics-fwd.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

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

Definition at line 31 of file kinodynamics-fwd.hpp.

◆ Base

template<typename _Scalar >

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

Definition at line 33 of file kinodynamics-fwd.hpp.

◆ BaseData

template<typename _Scalar >

using aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::BaseData = ContinuousDynamicsDataTpl<Scalar>

Definition at line 34 of file kinodynamics-fwd.hpp.

◆ ContDataAbstract

template<typename _Scalar >

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

Definition at line 35 of file kinodynamics-fwd.hpp.

◆ Data

template<typename _Scalar >

using aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::Data = KinodynamicsFwdDataTpl<Scalar>

Definition at line 36 of file kinodynamics-fwd.hpp.

◆ Manifold

template<typename _Scalar >

using aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::Manifold = proxsuite::nlp::MultibodyPhaseSpace<Scalar>

Definition at line 37 of file kinodynamics-fwd.hpp.

◆ Model

template<typename _Scalar >

using aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::Model = pinocchio::ModelTpl<Scalar>

Definition at line 38 of file kinodynamics-fwd.hpp.

◆ Matrix3s

template<typename _Scalar >

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

Definition at line 39 of file kinodynamics-fwd.hpp.

Constructor & Destructor Documentation

◆ KinodynamicsFwdDynamicsTpl()

template<typename _Scalar >

aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::KinodynamicsFwdDynamicsTpl	(	const Manifold &	state,
		const Model &	model,
		const Vector3s &	gravity,
		const std::vector< bool > &	contact_states,
		const std::vector< pinocchio::FrameIndex > &	contact_ids,
		const int	force_size )

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

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

◆ space()

template<typename _Scalar >

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

inline

Definition at line 52 of file kinodynamics-fwd.hpp.

◆ forward()

template<typename _Scalar >

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

virtual

Evaluate the vector field Jacobians.

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

◆ createData()

template<typename _Scalar >

shared_ptr< ContDataAbstract > aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::createData ( ) const

virtual

Create a data holder instance.

Reimplemented from aligator::dynamics::ContinuousDynamicsAbstractTpl< _Scalar >.

Member Data Documentation

◆ space_

template<typename _Scalar >

Manifold aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::space_

Definition at line 43 of file kinodynamics-fwd.hpp.

◆ pin_model_

template<typename _Scalar >

Model aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::pin_model_

Definition at line 44 of file kinodynamics-fwd.hpp.

◆ mass_

template<typename _Scalar >

double aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::mass_

Definition at line 45 of file kinodynamics-fwd.hpp.

◆ gravity_

template<typename _Scalar >

Vector3s aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::gravity_

Definition at line 46 of file kinodynamics-fwd.hpp.

◆ force_size_

template<typename _Scalar >

int aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::force_size_

Definition at line 47 of file kinodynamics-fwd.hpp.

◆ contact_states_

template<typename _Scalar >

std::vector<bool> aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::contact_states_

Definition at line 49 of file kinodynamics-fwd.hpp.

◆ contact_ids_

template<typename _Scalar >

std::vector<pinocchio::FrameIndex> aligator::dynamics::KinodynamicsFwdDynamicsTpl< _Scalar >::contact_ids_

Definition at line 50 of file kinodynamics-fwd.hpp.

The documentation for this struct was generated from the following file:

include/aligator/modelling/dynamics/kinodynamics-fwd.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ BaseData

◆ ContDataAbstract

◆ Data

◆ Manifold

◆ Model

◆ Matrix3s

Constructor & Destructor Documentation

◆ KinodynamicsFwdDynamicsTpl()

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ space()

◆ forward()

◆ dForward()

◆ createData()

Member Data Documentation

◆ space_

◆ pin_model_

◆ mass_

◆ gravity_

◆ force_size_

◆ contact_states_

◆ contact_ids_