| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/core/actuation-base.hxx |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 20 | 27 | 74.1% |
| Branches: | 4 | 42 | 9.5% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2024, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #include <boost/core/demangle.hpp> | ||
| 11 | |||
| 12 | #include "crocoddyl/core/utils/math.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | |||
| 16 | template <typename Scalar> | ||
| 17 | 2131 | ActuationModelAbstractTpl<Scalar>::ActuationModelAbstractTpl( | |
| 18 | boost::shared_ptr<StateAbstract> state, const std::size_t nu) | ||
| 19 | 2131 | : nu_(nu), state_(state) {} | |
| 20 | |||
| 21 | template <typename Scalar> | ||
| 22 | 4278 | ActuationModelAbstractTpl<Scalar>::~ActuationModelAbstractTpl() {} | |
| 23 | |||
| 24 | template <typename Scalar> | ||
| 25 | boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > | ||
| 26 | 6 | ActuationModelAbstractTpl<Scalar>::createData() { | |
| 27 | return boost::allocate_shared<ActuationDataAbstract>( | ||
| 28 |
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12 | Eigen::aligned_allocator<ActuationDataAbstract>(), this); |
| 29 | } | ||
| 30 | |||
| 31 | template <typename Scalar> | ||
| 32 | 941 | void ActuationModelAbstractTpl<Scalar>::calc( | |
| 33 | const boost::shared_ptr<ActuationDataAbstract>&, | ||
| 34 | 941 | const Eigen::Ref<const VectorXs>&) {} | |
| 35 | |||
| 36 | template <typename Scalar> | ||
| 37 | 207 | void ActuationModelAbstractTpl<Scalar>::calcDiff( | |
| 38 | const boost::shared_ptr<ActuationDataAbstract>&, | ||
| 39 | 207 | const Eigen::Ref<const VectorXs>&) {} | |
| 40 | |||
| 41 | template <typename Scalar> | ||
| 42 | 3062 | void ActuationModelAbstractTpl<Scalar>::torqueTransform( | |
| 43 | const boost::shared_ptr<ActuationDataAbstract>& data, | ||
| 44 | const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { | ||
| 45 |
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3062 | if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
| 46 | ✗ | throw_pretty( | |
| 47 | "Invalid argument: " << "x has wrong dimension (it should be " + | ||
| 48 | std::to_string(state_->get_nx()) + ")"); | ||
| 49 | } | ||
| 50 |
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3062 | if (static_cast<std::size_t>(u.size()) != nu_) { |
| 51 | ✗ | throw_pretty( | |
| 52 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 53 | std::to_string(nu_) + ")"); | ||
| 54 | } | ||
| 55 | 3062 | calc(data, x, u); | |
| 56 | 3062 | calcDiff(data, x, u); | |
| 57 |
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3062 | data->Mtau = pseudoInverse(data->dtau_du); |
| 58 | 3062 | } | |
| 59 | |||
| 60 | template <typename Scalar> | ||
| 61 | 657817 | std::size_t ActuationModelAbstractTpl<Scalar>::get_nu() const { | |
| 62 | 657817 | return nu_; | |
| 63 | } | ||
| 64 | |||
| 65 | template <typename Scalar> | ||
| 66 | const boost::shared_ptr<StateAbstractTpl<Scalar> >& | ||
| 67 | 633850 | ActuationModelAbstractTpl<Scalar>::get_state() const { | |
| 68 | 633850 | return state_; | |
| 69 | } | ||
| 70 | |||
| 71 | template <typename Scalar> | ||
| 72 | ✗ | std::ostream& operator<<(std::ostream& os, | |
| 73 | const ActuationModelAbstractTpl<Scalar>& model) { | ||
| 74 | ✗ | model.print(os); | |
| 75 | ✗ | return os; | |
| 76 | } | ||
| 77 | |||
| 78 | template <typename Scalar> | ||
| 79 | ✗ | void ActuationModelAbstractTpl<Scalar>::print(std::ostream& os) const { | |
| 80 | ✗ | os << boost::core::demangle(typeid(*this).name()); | |
| 81 | } | ||
| 82 | |||
| 83 | } // namespace crocoddyl | ||
| 84 |