Free-space multibody forward dynamics, using Pinocchio. More...

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

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

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

Public Types
using	Scalar = _Scalar

using	Base = ODEAbstractTpl<Scalar>

using	BaseData = ODEDataTpl<Scalar>

using	ContDataAbstract = ContinuousDynamicsDataTpl<Scalar>

using	Data = MultibodyFreeFwdDataTpl<Scalar>

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

using	ManifoldPtr = shared_ptr<Manifold>

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

int	ntau () const

	MultibodyFreeFwdDynamicsTpl (const ManifoldPtr &state, const MatrixXs &actuation)

	MultibodyFreeFwdDynamicsTpl (const ManifoldPtr &state)

bool	isUnderactuated () const
	Determine whether the system is underactuated.

Eigen::Index	getActuationMatrixRank () const

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

virtual 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
ManifoldPtr	space_

MatrixXs	actuation_matrix_

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::MultibodyFreeFwdDynamicsTpl< _Scalar >

Free-space multibody forward dynamics, using Pinocchio.

This is described in state-space \(\mathcal{X} = T\mathcal{Q}\) (the phase space \(x = (q,v)\)) using the differential equation

\[ \dot{x} = f(x, u) = \begin{bmatrix} v \\ a(q, v, \tau(u)) \end{bmatrix} \]

where \(\tau(u) = Bu\), \(B\) is a given actuation matrix, and \(a(q,v,\tau)\) is the acceleration computed from the ABA algorithm.

Definition at line 24 of file multibody-free-fwd.hpp.

Member Typedef Documentation

◆ Scalar

template<typename _Scalar >

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

Definition at line 26 of file multibody-free-fwd.hpp.

◆ Base

template<typename _Scalar >

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

Definition at line 28 of file multibody-free-fwd.hpp.

◆ BaseData

template<typename _Scalar >

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

Definition at line 29 of file multibody-free-fwd.hpp.

◆ ContDataAbstract

template<typename _Scalar >

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

Definition at line 30 of file multibody-free-fwd.hpp.

◆ Data

template<typename _Scalar >

using aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar >::Data = MultibodyFreeFwdDataTpl<Scalar>

Definition at line 31 of file multibody-free-fwd.hpp.

◆ Manifold

template<typename _Scalar >

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

Definition at line 32 of file multibody-free-fwd.hpp.

◆ ManifoldPtr

template<typename _Scalar >

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

Definition at line 33 of file multibody-free-fwd.hpp.

Constructor & Destructor Documentation

◆ MultibodyFreeFwdDynamicsTpl() [1/2]

template<typename _Scalar >

aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar >::MultibodyFreeFwdDynamicsTpl	(	const ManifoldPtr &	state,
		const MatrixXs &	actuation )

◆ MultibodyFreeFwdDynamicsTpl() [2/2]

template<typename _Scalar >

aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar >::MultibodyFreeFwdDynamicsTpl ( const ManifoldPtr & state )

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

template<typename _Scalar >

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

◆ space()

template<typename _Scalar >

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

inline

Definition at line 40 of file multibody-free-fwd.hpp.

◆ ntau()

template<typename _Scalar >

int aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar >::ntau ( ) const

inline

Definition at line 41 of file multibody-free-fwd.hpp.

◆ isUnderactuated()

template<typename _Scalar >

bool aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar >::isUnderactuated ( ) const

inline

Determine whether the system is underactuated.

This is the case when the actuation matrix rank is lower to the velocity dimension.

Definition at line 52 of file multibody-free-fwd.hpp.

◆ getActuationMatrixRank()

template<typename _Scalar >

Eigen::Index aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar >::getActuationMatrixRank ( ) const

inline

Definition at line 57 of file multibody-free-fwd.hpp.

◆ forward()

template<typename _Scalar >

virtual void aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _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 >

virtual void aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _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::MultibodyFreeFwdDynamicsTpl< _Scalar >::createData ( ) const

virtual

Create a data holder instance.

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

Member Data Documentation

◆ space_

template<typename _Scalar >

ManifoldPtr aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar >::space_

Definition at line 37 of file multibody-free-fwd.hpp.

◆ actuation_matrix_

template<typename _Scalar >

MatrixXs aligator::dynamics::MultibodyFreeFwdDynamicsTpl< _Scalar >::actuation_matrix_

Definition at line 38 of file multibody-free-fwd.hpp.

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

include/aligator/modelling/dynamics/multibody-free-fwd.hpp

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ Scalar

◆ Base

◆ BaseData

◆ ContDataAbstract

◆ Data

◆ Manifold

◆ ManifoldPtr

Constructor & Destructor Documentation

◆ MultibodyFreeFwdDynamicsTpl() [1/2]

◆ MultibodyFreeFwdDynamicsTpl() [2/2]

Member Function Documentation

◆ ALIGATOR_DYNAMIC_TYPEDEFS()

◆ space()

◆ ntau()

◆ isUnderactuated()

◆ getActuationMatrixRank()

◆ forward()

◆ dForward()

◆ createData()

Member Data Documentation

◆ space_

◆ actuation_matrix_