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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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namespace crocoddyl { |
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template <typename Scalar> |
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ActuationModelAbstractTpl<Scalar>::ActuationModelAbstractTpl( |
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std::shared_ptr<StateAbstract> state, const std::size_t nu) |
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: nu_(nu), state_(state) {} |
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template <typename Scalar> |
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std::shared_ptr<ActuationDataAbstractTpl<Scalar> > |
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ActuationModelAbstractTpl<Scalar>::createData() { |
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return std::allocate_shared<ActuationDataAbstract>( |
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Eigen::aligned_allocator<ActuationDataAbstract>(), this); |
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} |
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template <typename Scalar> |
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void ActuationModelAbstractTpl<Scalar>::calc( |
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const std::shared_ptr<ActuationDataAbstract>&, |
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const Eigen::Ref<const VectorXs>&) {} |
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template <typename Scalar> |
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void ActuationModelAbstractTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ActuationDataAbstract>&, |
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const Eigen::Ref<const VectorXs>&) {} |
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template <typename Scalar> |
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void ActuationModelAbstractTpl<Scalar>::torqueTransform( |
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const std::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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calc(data, x, u); |
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calcDiff(data, x, u); |
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data->Mtau = pseudoInverse(data->dtau_du); |
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} |
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template <typename Scalar> |
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std::size_t ActuationModelAbstractTpl<Scalar>::get_nu() const { |
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return nu_; |
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} |
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template <typename Scalar> |
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const std::shared_ptr<StateAbstractTpl<Scalar> >& |
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ActuationModelAbstractTpl<Scalar>::get_state() const { |
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return state_; |
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} |
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template <typename Scalar> |
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std::ostream& operator<<(std::ostream& os, |
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const ActuationModelAbstractTpl<Scalar>& model) { |
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model.print(os); |
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return os; |
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} |
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template <typename Scalar> |
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void ActuationModelAbstractTpl<Scalar>::print(std::ostream& os) const { |
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os << boost::core::demangle(typeid(*this).name()); |
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} |
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} // namespace crocoddyl |
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