#include <pinocchio_gravity_compensation_dynamics_solver.h>

Inheritance diagram for exotica::PinocchioDynamicsSolverWithGravityCompensation:

Collaboration diagram for exotica::PinocchioDynamicsSolverWithGravityCompensation:

Public Member Functions
void	AssignScene (ScenePtr scene_in) override

StateVector	f (const StateVector &x, const ControlVector &u) override
	Forward dynamics. This computes the differential dynamics. More...

StateDerivative	fx (const StateVector &x, const ControlVector &u) override
	Derivative of the forward dynamics w.r.t. the state. More...

ControlDerivative	fu (const StateVector &x, const ControlVector &u) override
	Derivative of the forward dynamics w.r.t. the control. More...

void	ComputeDerivatives (const StateVector &x, const ControlVector &u) override
	Computes derivatives fx, fu, Fx, Fu [single call for efficiency, derivatives can be retrieved with get_fx, get_fu, get_Fx, get_Fu]. More...

StateVector	StateDelta (const StateVector &x_1, const StateVector &x_2) override
	Return the difference of two state vectors. Used when e.g. angle differences need to be wrapped from [-pi; pi] Returns x_1-x_2. More...

Eigen::MatrixXd	dStateDelta (const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second) override
	Return the difference of the StateDelta operation between two state vectors. The ArgumentPosition argument can be used to select whether to take derivative w.r.t. x_1 or x_2. More...

void	Integrate (const StateVector &x, const StateVector &dx, const double dt, StateVector &xout) override
	Integrates without performing dynamics. More...

Public Member Functions inherited from exotica::AbstractDynamicsSolver< T, NX, NU >
	AbstractDynamicsSolver ()

virtual	~AbstractDynamicsSolver ()

virtual void	InstantiateBase (const Initializer &init)
	Instantiates the base properties of the DynamicsSolver. More...

virtual void	AssignScene (std::shared_ptr< Scene > scene_in)
	Passes the Scene of the PlanningProblem to the DynamicsSolver. More...

virtual void	SetDt (double dt_in)
	Sets the timestep dt to be used for integration. More...

virtual StateVector	F (const StateVector &x, const ControlVector &u)
	State transition function. This internally computes the differential dynamics and applies the chosen integration scheme. More...

const StateDerivative &	get_Fx () const
	Returns derivative Fx computed by ComputeDerivatives. More...

const ControlDerivative &	get_Fu () const
	Returns derivative Fu computed by ComputeDerivatives. More...

const StateDerivative &	get_fx () const
	Returns derivative fx computed by ComputeDerivatives. More...

const ControlDerivative &	get_fu () const
	Returns derivative fu computed by ComputeDerivatives. More...

StateDerivative	fx_fd (const StateVector &x, const ControlVector &u)
	Derivative of the forward dynamics w.r.t. the state [finite differencing]. More...

ControlDerivative	fu_fd (const StateVector &x, const ControlVector &u)
	Derivative of the forward dynamics w.r.t. the control [finite differencing]. More...

const bool &	get_has_second_order_derivatives () const
	Returns whether second-order derivatives are available. More...

virtual Eigen::Tensor< T, 3 >	fxx (const StateVector &x, const ControlVector &u)

virtual Eigen::Tensor< T, 3 >	fuu (const StateVector &x, const ControlVector &u)

virtual Eigen::Tensor< T, 3 >	fxu (const StateVector &x, const ControlVector &u)

StateVector	Simulate (const StateVector &x, const ControlVector &u, T t)
	Simulates the dynamic system from starting state x using control u for t seconds. More...

void	StateDelta (const StateVector &x_1, const StateVector &x_2, Eigen::VectorXdRef xout)

virtual Hessian	ddStateDelta (const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second)

virtual Eigen::Matrix< T, Eigen::Dynamic, 1 >	GetPosition (Eigen::VectorXdRefConst x_in)
	Returns the position-part of the state vector to update the scene. For types including SE(3) and rotation, convert to the appropriate representation here by overriding this method. More...

int	get_num_controls () const
	Returns number of controls. More...

int	get_num_positions () const
	Returns number of positions. More...

int	get_num_velocities () const
	Returns number of velocities. More...

int	get_num_state () const
	Returns size of state space (nx) More...

int	get_num_state_derivative () const
	Returns size of derivative vector of state space (ndx) More...

T	get_dt () const
	Returns integration timestep dt. More...

Integrator	get_integrator () const
	Returns used integration scheme. More...

void	set_integrator (Integrator integrator_in)
	Sets integrator type. More...

void	SetIntegrator (const std::string &integrator_in)
	Sets integrator type based on request string. More...

const Eigen::MatrixXd &	get_control_limits ()
	Returns the control limits vector. More...

void	set_control_limits (Eigen::VectorXdRefConst control_limits_low, Eigen::VectorXdRefConst control_limits_high)
	Sets the control limits. More...

const bool &	get_has_state_limits () const
	Returns whether state limits are available. More...

void	ClampToStateLimits (Eigen::Ref< Eigen::VectorXd > state_in)
	Clamps the passed in state to the state limits. More...

virtual ControlVector	InverseDynamics (const StateVector &state)
	Returns a control vector corresponding to the state vector assuming zero acceleration. More...

Public Member Functions inherited from exotica::Object
	Object ()

virtual	~Object ()

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

virtual std::string	Print (const std::string &prepend) const

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

virtual std::vector< Initializer >	GetAllTemplates () const =0

Public Member Functions inherited from exotica::Instantiable< PinocchioDynamicsSolverWithGravityCompensationInitializer >
void	InstantiateInternal (const Initializer &init) override

Initializer	GetInitializerTemplate () override

std::vector< Initializer >	GetAllTemplates () const override

virtual void	Instantiate (const PinocchioDynamicsSolverWithGravityCompensationInitializer &init)

const PinocchioDynamicsSolverWithGravityCompensationInitializer &	GetParameters () const

Private Attributes
pinocchio::Model	model_

std::unique_ptr< pinocchio::Data >	pinocchio_data_

Eigen::VectorXd	xdot_analytic_

Eigen::VectorXd	u_nle_

Eigen::VectorXd	u_command_

Eigen::VectorXd	a_

Eigen::MatrixXd	du_command_dq_

Eigen::MatrixXd	du_nle_dq_

Additional Inherited Members
Public Types inherited from exotica::AbstractDynamicsSolver< T, NX, NU >
typedef Eigen::Matrix< T, NX, 1 >	StateVector
	Convenience definition for a StateVector containing both position and velocity (dimension NX x 1) More...

typedef Eigen::Matrix< T, NU, 1 >	ControlVector
	Convenience definition for a ControlVector (dimension NU x 1) More...

typedef Eigen::Matrix< T, NX, NX >	StateDerivative
	Convenience definition for a StateDerivative. More...

typedef Eigen::Matrix< T, NX, NU >	ControlDerivative
	Convenience definition for a ControlDerivative. More...

Public Attributes inherited from exotica::Object
std::string	ns_

std::string	object_name_

bool	debug_

Protected Member Functions inherited from exotica::AbstractDynamicsSolver< T, NX, NU >
virtual StateVector	SimulateOneStep (const StateVector &x, const ControlVector &u)
	Integrates the dynamic system from state x with controls u applied for one timestep dt using the selected integrator. More...

void	InitializeSecondOrderDerivatives ()

Protected Attributes inherited from exotica::AbstractDynamicsSolver< T, NX, NU >
int	num_controls_ = -1
	Number of controls in the dynamic system. More...

int	num_positions_ = -1
	Number of positions in the dynamic system. More...

int	num_velocities_ = -1
	Number of velocities in the dynamic system. More...

int	num_state_ = -1
	Size of state space (num_positions + num_velocities) More...

int	num_state_derivative_ = -1
	Size of the tangent vector to the state space (2 * num_velocities) More...

bool	has_second_order_derivatives_ = false
	Whether this solver provides second order derivatives. If false (default), assumed to be all zeros. More...

bool	second_order_derivatives_initialized_ = false
	Whether fxx, fxu and fuu have been initialized to 0. More...

bool	has_state_limits_ = false
	Whether the solver specifies state limits. More...

Eigen::VectorXd	state_limits_lower_
	Lower state limits (configuration and velocity) More...

Eigen::VectorXd	state_limits_upper_
	Upper state limits (configuration and velocity) More...

T	dt_ = 0.01
	Internal timestep used for integration. Defaults to 10ms. More...

Integrator	integrator_ = Integrator::RK1
	Chosen integrator. Defaults to Euler (RK1). More...

Eigen::MatrixXd	control_limits_
	ControlLimits. Default is empty vector. More...

Eigen::Tensor< T, 3 >	fxx_default_

Eigen::Tensor< T, 3 >	fuu_default_

Eigen::Tensor< T, 3 >	fxu_default_

Eigen::MatrixXd	fx_
	Internal storage of differential dynamics partial derivative fx computed by ComputeDerivatives. More...

Eigen::MatrixXd	fu_
	Internal storage of differential dynamics partial derivative fu computed by ComputeDerivatives. More...

Eigen::MatrixXd	Fx_
	Internal storage of state transition partial derivative Fx computed by ComputeDerivatives. More...

Eigen::MatrixXd	Fu_
	Internal storage of state transition partial derivative Fu computed by ComputeDerivatives. More...

Protected Attributes inherited from exotica::Instantiable< PinocchioDynamicsSolverWithGravityCompensationInitializer >
PinocchioDynamicsSolverWithGravityCompensationInitializer	parameters_

Member Function Documentation

◆ AssignScene()

void exotica::PinocchioDynamicsSolverWithGravityCompensation::AssignScene ( ScenePtr scene_in )

override

◆ ComputeDerivatives()

void exotica::PinocchioDynamicsSolverWithGravityCompensation::ComputeDerivatives	(	const StateVector &	x,
		const ControlVector &	u
	)

overridevirtual

Computes derivatives fx, fu, Fx, Fu [single call for efficiency, derivatives can be retrieved with get_fx, get_fu, get_Fx, get_Fu].

Reimplemented from exotica::AbstractDynamicsSolver< T, NX, NU >.

◆ dStateDelta()

Eigen::MatrixXd exotica::PinocchioDynamicsSolverWithGravityCompensation::dStateDelta	(	const StateVector &	x_1,
		const StateVector &	x_2,
		const ArgumentPosition	first_or_second
	)

overridevirtual

Return the difference of the StateDelta operation between two state vectors. The ArgumentPosition argument can be used to select whether to take derivative w.r.t. x_1 or x_2.

Reimplemented from exotica::AbstractDynamicsSolver< T, NX, NU >.

◆ f()

StateVector exotica::PinocchioDynamicsSolverWithGravityCompensation::f	(	const StateVector &	x,
		const ControlVector &	u
	)

overridevirtual

Forward dynamics. This computes the differential dynamics.

Implements exotica::AbstractDynamicsSolver< T, NX, NU >.

◆ fu()

ControlDerivative exotica::PinocchioDynamicsSolverWithGravityCompensation::fu	(	const StateVector &	x,
		const ControlVector &	u
	)

overridevirtual

Derivative of the forward dynamics w.r.t. the control.

Reimplemented from exotica::AbstractDynamicsSolver< T, NX, NU >.

◆ fx()

StateDerivative exotica::PinocchioDynamicsSolverWithGravityCompensation::fx	(	const StateVector &	x,
		const ControlVector &	u
	)

overridevirtual

Derivative of the forward dynamics w.r.t. the state.

Reimplemented from exotica::AbstractDynamicsSolver< T, NX, NU >.

◆ Integrate()

void exotica::PinocchioDynamicsSolverWithGravityCompensation::Integrate	(	const StateVector &	x,
		const StateVector &	dx,
		const double	dt,
		StateVector &	xout
	)

overridevirtual

Integrates without performing dynamics.

Reimplemented from exotica::AbstractDynamicsSolver< T, NX, NU >.

◆ StateDelta()

StateVector exotica::PinocchioDynamicsSolverWithGravityCompensation::StateDelta	(	const StateVector &	x_1,
		const StateVector &	x_2
	)

overridevirtual

Return the difference of two state vectors. Used when e.g. angle differences need to be wrapped from [-pi; pi] Returns x_1-x_2.

Reimplemented from exotica::AbstractDynamicsSolver< T, NX, NU >.

Member Data Documentation

◆ a_

Eigen::VectorXd exotica::PinocchioDynamicsSolverWithGravityCompensation::a_

private

◆ du_command_dq_

Eigen::MatrixXd exotica::PinocchioDynamicsSolverWithGravityCompensation::du_command_dq_

private

◆ du_nle_dq_

Eigen::MatrixXd exotica::PinocchioDynamicsSolverWithGravityCompensation::du_nle_dq_

private

◆ model_

pinocchio::Model exotica::PinocchioDynamicsSolverWithGravityCompensation::model_

private

◆ pinocchio_data_

std::unique_ptr<pinocchio::Data> exotica::PinocchioDynamicsSolverWithGravityCompensation::pinocchio_data_

private

◆ u_command_

Eigen::VectorXd exotica::PinocchioDynamicsSolverWithGravityCompensation::u_command_

private

◆ u_nle_

Eigen::VectorXd exotica::PinocchioDynamicsSolverWithGravityCompensation::u_nle_

private

◆ xdot_analytic_

Eigen::VectorXd exotica::PinocchioDynamicsSolverWithGravityCompensation::xdot_analytic_

private

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

/tmp/exotica/exotations/dynamics_solvers/exotica_pinocchio_dynamics_solver/include/exotica_pinocchio_dynamics_solver/pinocchio_gravity_compensation_dynamics_solver.h

Public Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ AssignScene()

◆ ComputeDerivatives()

◆ dStateDelta()

◆ f()

◆ fu()

◆ fx()

◆ Integrate()

◆ StateDelta()

Member Data Documentation

◆ a_

◆ du_command_dq_

◆ du_nle_dq_

◆ model_

◆ pinocchio_data_

◆ u_command_

◆ u_nle_

◆ xdot_analytic_