Cost on the position of the center of mass. More...

#include <com_cost.hpp>

Inheritance diagram for robotoc::CoMCost:

Collaboration diagram for robotoc::CoMCost:

Public Member Functions
	CoMCost (const Robot &robot)
	Constructor. More...

	CoMCost (const Robot &robot, const std::shared_ptr< CoMRefBase > &ref)
	Constructor. More...

	CoMCost (const Robot &robot, const Eigen::Vector3d &const_ref)
	Constructor. More...

	CoMCost ()
	Default constructor. More...

	~CoMCost ()
	Destructor. More...

	CoMCost (const CoMCost &)=default
	Default copy constructor. More...

CoMCost &	operator= (const CoMCost &)=default
	Default copy operator. More...

	CoMCost (CoMCost &&) noexcept=default
	Default move constructor. More...

CoMCost &	operator= (CoMCost &&) noexcept=default
	Default move assign operator. More...

void	set_ref (const std::shared_ptr< CoMRefBase > &ref)
	Sets the reference CoM position. More...

void	set_const_ref (const Eigen::Vector3d &const_ref)
	Sets the const reference CoM position. More...

void	set_weight (const Eigen::Vector3d &weight)
	Sets the weight vector. More...

void	set_weight_terminal (const Eigen::Vector3d &weight_terminal)
	Sets the weight vector for the terminal stage. More...

void	set_weight_impact (const Eigen::Vector3d &weight_impact)
	Sets the weight vector for the impact stage. More...

bool	isCostActive (const GridInfo &grid_info) const
	Evaluate if the cost is active for given grid_info. More...

void	evalDiff (const Robot &robot, CostFunctionData &data, const GridInfo &grid_info) const
	Evaluate the difference between the robot's task-space position status and reference. More...

double	evalStageCost (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const override
	Computes the stage cost. More...

void	evalStageCostDerivatives (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const override
	Computes the first-order partial derivatives of the stage cost. This function is always called just after evalStageCost(). More...

void	evalStageCostHessian (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTMatrix &kkt_matrix) const override
	Computes the Hessian, i.e., the second-order partial derivatives of the stage cost. This function is always called just after evalStageCostDerivatives(). More...

double	evalTerminalCost (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const override
	Computes the terminal cost. More...

void	evalTerminalCostDerivatives (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const override
	Computes the first-order partial derivatives of the terminal cost. This function is always called just after evalTerminalCost(). More...

void	evalTerminalCostHessian (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTMatrix &kkt_matrix) const override
	Computes the Hessian, i.e., the second-order partial derivatives of the teminal cost. This function is always called just after evalTerminalCostDerivatives(). More...

double	evalImpactCost (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const override
	Computes the impact cost. More...

void	evalImpactCostDerivatives (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const override
	Computes the first-order partial derivatives of the impact cost. This function is always called just after evalImpactCost(). More...

void	evalImpactCostHessian (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTMatrix &kkt_matrix) const override
	Computes the Hessian, i.e., the second-order partial derivatives of the impact cost. This function is always called just after evalImpactCostDerivatives(). More...

Public Member Functions inherited from robotoc::CostFunctionComponentBase
	CostFunctionComponentBase ()
	Default constructor. More...

virtual	~CostFunctionComponentBase ()
	Destructor. More...

	CostFunctionComponentBase (const CostFunctionComponentBase &)=default
	Default copy constructor. More...

CostFunctionComponentBase &	operator= (const CostFunctionComponentBase &)=default
	Default copy operator. More...

	CostFunctionComponentBase (CostFunctionComponentBase &&) noexcept=default
	Default move constructor. More...

CostFunctionComponentBase &	operator= (CostFunctionComponentBase &&) noexcept=default
	Default move assign operator. More...

virtual double	evalStageCost (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const =0
	Computes the stage cost. More...

virtual void	evalStageCostDerivatives (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const =0
	Computes the first-order partial derivatives of the stage cost. This function is always called just after evalStageCost(). More...

virtual void	evalStageCostHessian (Robot &robot, const ContactStatus &contact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTMatrix &kkt_matrix) const =0
	Computes the Hessian, i.e., the second-order partial derivatives of the stage cost. This function is always called just after evalStageCostDerivatives(). More...

virtual double	evalTerminalCost (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const =0
	Computes the terminal cost. More...

virtual void	evalTerminalCostDerivatives (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const =0
	Computes the first-order partial derivatives of the terminal cost. This function is always called just after evalTerminalCost(). More...

virtual void	evalTerminalCostHessian (Robot &robot, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTMatrix &kkt_matrix) const =0
	Computes the Hessian, i.e., the second-order partial derivatives of the teminal cost. This function is always called just after evalTerminalCostDerivatives(). More...

virtual double	evalImpactCost (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s) const =0
	Computes the impact cost. More...

virtual void	evalImpactCostDerivatives (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTResidual &kkt_residual) const =0
	Computes the first-order partial derivatives of the impact cost. This function is always called just after evalImpactCost(). More...

virtual void	evalImpactCostHessian (Robot &robot, const ImpactStatus &impact_status, CostFunctionData &data, const GridInfo &grid_info, const SplitSolution &s, SplitKKTMatrix &kkt_matrix) const =0
	Computes the Hessian, i.e., the second-order partial derivatives of the impact cost. This function is always called just after evalImpactCostDerivatives(). More...

template<typename Derived >
std::shared_ptr< Derived >	as_shared_ptr ()
	Gets the shared ptr of this object as the specified type. If this fails in dynamic casting, throws an exception. More...

Detailed Description

Cost on the position of the center of mass.

Constructor & Destructor Documentation

◆ CoMCost() [1/6]

robotoc::CoMCost::CoMCost ( const Robot & robot )

Constructor.

Parameters

[in] robot Robot model.

◆ CoMCost() [2/6]

robotoc::CoMCost::CoMCost	(	const Robot &	robot,
		const std::shared_ptr< CoMRefBase > &	ref
	)

Constructor.

Parameters

[in]	robot	Robot model.
[in]	ref	Reference CoM position.

◆ CoMCost() [3/6]

robotoc::CoMCost::CoMCost	(	const Robot &	robot,
		const Eigen::Vector3d &	const_ref
	)

Constructor.

Parameters

[in]	robot	Robot model.
[in]	const_ref	Const reference CoM position.

◆ CoMCost() [4/6]

robotoc::CoMCost::CoMCost ( )

Default constructor.

◆ ~CoMCost()

robotoc::CoMCost::~CoMCost ( )

Destructor.

◆ CoMCost() [5/6]

robotoc::CoMCost::CoMCost ( const CoMCost & )

default

Default copy constructor.

◆ CoMCost() [6/6]

robotoc::CoMCost::CoMCost ( CoMCost && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ evalDiff()

void robotoc::CoMCost::evalDiff	(	const Robot &	robot,
		CostFunctionData &	data,
		const GridInfo &	grid_info
	)		const

inline

Evaluate the difference between the robot's task-space position status and reference.

Parameters

[in]	robot	Robot model.
[in,out]	data	Cost funciton data.
[in]	grid_info	Grid info

◆ evalImpactCost()

double robotoc::CoMCost::evalImpactCost	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s
	)		const

overridevirtual

Computes the impact cost.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.

Returns: Impact cost.

Implements robotoc::CostFunctionComponentBase.

◆ evalImpactCostDerivatives()

void robotoc::CoMCost::evalImpactCostDerivatives	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

overridevirtual

Computes the first-order partial derivatives of the impact cost. This function is always called just after evalImpactCost().

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_residual	Split KKT residual. The partial derivatives are added to this object.

Implements robotoc::CostFunctionComponentBase.

◆ evalImpactCostHessian()

void robotoc::CoMCost::evalImpactCostHessian	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTMatrix &	kkt_matrix
	)		const

overridevirtual

Computes the Hessian, i.e., the second-order partial derivatives of the impact cost. This function is always called just after evalImpactCostDerivatives().

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_matrix	Impact split KKT matrix. The Hessians are added to this object.

Implements robotoc::CostFunctionComponentBase.

◆ evalStageCost()

double robotoc::CoMCost::evalStageCost	(	Robot &	robot,
		const ContactStatus &	contact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s
	)		const

overridevirtual

Computes the stage cost.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.

Returns: Stage cost.

Implements robotoc::CostFunctionComponentBase.

◆ evalStageCostDerivatives()

void robotoc::CoMCost::evalStageCostDerivatives	(	Robot &	robot,
		const ContactStatus &	contact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

overridevirtual

Computes the first-order partial derivatives of the stage cost. This function is always called just after evalStageCost().

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_residual	Split KKT residual. The partial derivatives are added to this object.

Implements robotoc::CostFunctionComponentBase.

◆ evalStageCostHessian()

void robotoc::CoMCost::evalStageCostHessian	(	Robot &	robot,
		const ContactStatus &	contact_status,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTMatrix &	kkt_matrix
	)		const

overridevirtual

Computes the Hessian, i.e., the second-order partial derivatives of the stage cost. This function is always called just after evalStageCostDerivatives().

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_matrix	Split KKT matrix. The Hessians are added to this object.

Implements robotoc::CostFunctionComponentBase.

◆ evalTerminalCost()

double robotoc::CoMCost::evalTerminalCost	(	Robot &	robot,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s
	)		const

overridevirtual

Computes the terminal cost.

Parameters

[in]	robot	Robot model.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.

Returns: Terminal cost.

Implements robotoc::CostFunctionComponentBase.

◆ evalTerminalCostDerivatives()

void robotoc::CoMCost::evalTerminalCostDerivatives	(	Robot &	robot,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

overridevirtual

Computes the first-order partial derivatives of the terminal cost. This function is always called just after evalTerminalCost().

Parameters

[in]	robot	Robot model.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_residual	Split KKT residual. The partial derivatives are added to this object.

Implements robotoc::CostFunctionComponentBase.

◆ evalTerminalCostHessian()

void robotoc::CoMCost::evalTerminalCostHessian	(	Robot &	robot,
		CostFunctionData &	data,
		const GridInfo &	grid_info,
		const SplitSolution &	s,
		SplitKKTMatrix &	kkt_matrix
	)		const

overridevirtual

Computes the Hessian, i.e., the second-order partial derivatives of the teminal cost. This function is always called just after evalTerminalCostDerivatives().

Parameters

[in]	robot	Robot model.
[in]	data	Cost function data.
[in]	grid_info	Grid info.
[in]	s	Split solution.
[in,out]	kkt_matrix	Split KKT matrix. The Hessians are added to this object.

Implements robotoc::CostFunctionComponentBase.

◆ isCostActive()

bool robotoc::CoMCost::isCostActive ( const GridInfo & grid_info ) const

inline

Evaluate if the cost is active for given grid_info.

Parameters

[in] grid_info Grid info.

Returns: Cost status (if the cost is active or not).

◆ operator=() [1/2]

CoMCost & robotoc::CoMCost::operator= ( CoMCost && )

defaultnoexcept

Default move assign operator.

◆ operator=() [2/2]

CoMCost & robotoc::CoMCost::operator= ( const CoMCost & )

default

Default copy operator.

◆ set_const_ref()

void robotoc::CoMCost::set_const_ref ( const Eigen::Vector3d & const_ref )

Sets the const reference CoM position.

Parameters

[in] const_ref Const reference CoM position.

◆ set_ref()

void robotoc::CoMCost::set_ref ( const std::shared_ptr< CoMRefBase > & ref )

Sets the reference CoM position.

Parameters

[in] ref Reference CoM position.

◆ set_weight()

void robotoc::CoMCost::set_weight ( const Eigen::Vector3d & weight )

Sets the weight vector.

Parameters

[in] weight Weight vector on the CoM position error.

◆ set_weight_impact()

void robotoc::CoMCost::set_weight_impact ( const Eigen::Vector3d & weight_impact )

Sets the weight vector for the impact stage.

Parameters

[in] weight_impact Weight vector on the CoM position error at the impact stage.

◆ set_weight_terminal()

void robotoc::CoMCost::set_weight_terminal ( const Eigen::Vector3d & weight_terminal )

Sets the weight vector for the terminal stage.

Parameters

[in] weight_terminal Weight vector on the CoM position error at the terminal stage.

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

/github/workspace/include/robotoc/cost/com_cost.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ CoMCost() [1/6]

◆ CoMCost() [2/6]

◆ CoMCost() [3/6]

◆ CoMCost() [4/6]

◆ ~CoMCost()

◆ CoMCost() [5/6]

◆ CoMCost() [6/6]

Member Function Documentation

◆ evalDiff()

◆ evalImpactCost()

◆ evalImpactCostDerivatives()

◆ evalImpactCostHessian()

◆ evalStageCost()

◆ evalStageCostDerivatives()

◆ evalStageCostHessian()

◆ evalTerminalCost()

◆ evalTerminalCostDerivatives()

◆ evalTerminalCostHessian()

◆ isCostActive()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ set_const_ref()

◆ set_ref()

◆ set_weight()

◆ set_weight_impact()

◆ set_weight_terminal()