| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, University of Edinburgh, IRI: CSIC-UPC, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_CORE_ACTUATION_SQUASHING_HPP_ | ||
| 11 | #define CROCODDYL_CORE_ACTUATION_SQUASHING_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/actuation-base.hpp" | ||
| 14 | #include "crocoddyl/core/actuation/squashing-base.hpp" | ||
| 15 | #include "crocoddyl/core/fwd.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | |||
| 19 | template <typename _Scalar> | ||
| 20 | class ActuationSquashingModelTpl : public ActuationModelAbstractTpl<_Scalar> { | ||
| 21 | public: | ||
| 22 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 23 | ✗ | CROCODDYL_DERIVED_CAST(ActuationModelBase, ActuationSquashingModelTpl) | |
| 24 | |||
| 25 | typedef _Scalar Scalar; | ||
| 26 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 27 | typedef ActuationModelAbstractTpl<Scalar> Base; | ||
| 28 | typedef ActuationSquashingDataTpl<Scalar> Data; | ||
| 29 | typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract; | ||
| 30 | typedef SquashingModelAbstractTpl<Scalar> SquashingModelAbstract; | ||
| 31 | typedef typename MathBase::VectorXs VectorXs; | ||
| 32 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 33 | |||
| 34 | ✗ | ActuationSquashingModelTpl(std::shared_ptr<Base> actuation, | |
| 35 | std::shared_ptr<SquashingModelAbstract> squashing, | ||
| 36 | const std::size_t nu) | ||
| 37 | : Base(actuation->get_state(), nu), | ||
| 38 | ✗ | squashing_(squashing), | |
| 39 | ✗ | actuation_(actuation) {}; | |
| 40 | |||
| 41 | ✗ | virtual ~ActuationSquashingModelTpl() = default; | |
| 42 | |||
| 43 | ✗ | virtual void calc(const std::shared_ptr<ActuationDataAbstract>& data, | |
| 44 | const Eigen::Ref<const VectorXs>& x, | ||
| 45 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 46 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 47 | |||
| 48 | ✗ | squashing_->calc(d->squashing, u); | |
| 49 | ✗ | actuation_->calc(d->actuation, x, d->squashing->u); | |
| 50 | ✗ | data->tau = d->actuation->tau; | |
| 51 | ✗ | data->tau_set = d->actuation->tau_set; | |
| 52 | ✗ | }; | |
| 53 | |||
| 54 | ✗ | virtual void calcDiff(const std::shared_ptr<ActuationDataAbstract>& data, | |
| 55 | const Eigen::Ref<const VectorXs>& x, | ||
| 56 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 57 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 58 | |||
| 59 | ✗ | squashing_->calcDiff(d->squashing, u); | |
| 60 | ✗ | actuation_->calcDiff(d->actuation, x, d->squashing->u); | |
| 61 | ✗ | data->dtau_du.noalias() = d->actuation->dtau_du * d->squashing->du_ds; | |
| 62 | ✗ | }; | |
| 63 | |||
| 64 | ✗ | virtual void commands(const std::shared_ptr<ActuationDataAbstract>& data, | |
| 65 | const Eigen::Ref<const VectorXs>& x, | ||
| 66 | const Eigen::Ref<const VectorXs>& tau) override { | ||
| 67 | ✗ | if (static_cast<std::size_t>(tau.size()) != this->state_->get_nv()) { | |
| 68 | ✗ | throw_pretty("Invalid argument: " | |
| 69 | << "tau has wrong dimension (it should be " + | ||
| 70 | std::to_string(this->state_->get_nv()) + ")"); | ||
| 71 | } | ||
| 72 | ✗ | torqueTransform(data, x, tau); | |
| 73 | ✗ | data->u.noalias() = data->Mtau * tau; | |
| 74 | ✗ | } | |
| 75 | |||
| 76 | ✗ | std::shared_ptr<ActuationDataAbstract> createData() override { | |
| 77 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 78 | }; | ||
| 79 | |||
| 80 | template <typename NewScalar> | ||
| 81 | ✗ | ActuationSquashingModelTpl<NewScalar> cast() const { | |
| 82 | typedef ActuationSquashingModelTpl<NewScalar> ReturnType; | ||
| 83 | ✗ | ReturnType ret(actuation_->template cast<NewScalar>(), | |
| 84 | ✗ | squashing_->template cast<NewScalar>(), nu_); | |
| 85 | ✗ | return ret; | |
| 86 | } | ||
| 87 | |||
| 88 | ✗ | const std::shared_ptr<SquashingModelAbstract>& get_squashing() const { | |
| 89 | ✗ | return squashing_; | |
| 90 | }; | ||
| 91 | ✗ | const std::shared_ptr<Base>& get_actuation() const { return actuation_; }; | |
| 92 | |||
| 93 | protected: | ||
| 94 | std::shared_ptr<SquashingModelAbstract> squashing_; | ||
| 95 | std::shared_ptr<Base> actuation_; | ||
| 96 | using Base::nu_; | ||
| 97 | using Base::torqueTransform; | ||
| 98 | }; | ||
| 99 | |||
| 100 | template <typename _Scalar> | ||
| 101 | struct ActuationSquashingDataTpl : public ActuationDataAbstractTpl<_Scalar> { | ||
| 102 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 103 | |||
| 104 | typedef _Scalar Scalar; | ||
| 105 | typedef ActuationDataAbstractTpl<Scalar> Base; | ||
| 106 | typedef SquashingDataAbstractTpl<Scalar> SquashingDataAbstract; | ||
| 107 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 108 | typedef typename MathBase::VectorXs VectorXs; | ||
| 109 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 110 | |||
| 111 | template <template <typename Scalar> class Model> | ||
| 112 | ✗ | explicit ActuationSquashingDataTpl(Model<Scalar>* const model) | |
| 113 | : Base(model), | ||
| 114 | ✗ | squashing(model->get_squashing()->createData()), | |
| 115 | ✗ | actuation(model->get_actuation()->createData()) {} | |
| 116 | |||
| 117 | ✗ | virtual ~ActuationSquashingDataTpl() = default; | |
| 118 | |||
| 119 | std::shared_ptr<SquashingDataAbstract> squashing; | ||
| 120 | std::shared_ptr<Base> actuation; | ||
| 121 | |||
| 122 | using Base::dtau_du; | ||
| 123 | using Base::dtau_dx; | ||
| 124 | using Base::Mtau; | ||
| 125 | using Base::tau; | ||
| 126 | using Base::tau_set; | ||
| 127 | using Base::u; | ||
| 128 | }; | ||
| 129 | |||
| 130 | } // namespace crocoddyl | ||
| 131 | |||
| 132 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActuationSquashingModelTpl) | ||
| 133 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ActuationSquashingDataTpl) | ||
| 134 | |||
| 135 | #endif // CROCODDYL_CORE_ACTIVATION_SQUASH_BASE_HPP_ | ||
| 136 |