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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, University of Edinburgh, 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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#include "actuation.hpp" |
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#include "crocoddyl/core/actuation/actuation-squashing.hpp" |
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#include "crocoddyl/core/actuation/squashing-base.hpp" |
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#include "crocoddyl/core/actuation/squashing/smooth-sat.hpp" |
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#include "crocoddyl/multibody/actuations/floating-base-thrusters.hpp" |
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#include "crocoddyl/multibody/actuations/floating-base.hpp" |
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#include "crocoddyl/multibody/actuations/full.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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const std::vector<ActuationModelTypes::Type> ActuationModelTypes::all( |
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ActuationModelTypes::init_all()); |
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std::ostream& operator<<(std::ostream& os, ActuationModelTypes::Type type) { |
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switch (type) { |
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case ActuationModelTypes::ActuationModelFull: |
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os << "ActuationModelFull"; |
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break; |
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case ActuationModelTypes::ActuationModelFloatingBase: |
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os << "ActuationModelFloatingBase"; |
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break; |
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case ActuationModelTypes::ActuationModelFloatingBaseThrusters: |
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os << "ActuationModelFloatingBaseThrusters"; |
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break; |
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case ActuationModelTypes::ActuationModelSquashingFull: |
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os << "ActuationModelSquashingFull"; |
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break; |
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case ActuationModelTypes::NbActuationModelTypes: |
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os << "NbActuationModelTypes"; |
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break; |
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default: |
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break; |
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} |
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return os; |
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} |
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ActuationModelFactory::ActuationModelFactory() {} |
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ActuationModelFactory::~ActuationModelFactory() {} |
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std::shared_ptr<crocoddyl::ActuationModelAbstract> |
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ActuationModelFactory::create(ActuationModelTypes::Type actuation_type, |
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StateModelTypes::Type state_type) const { |
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std::shared_ptr<crocoddyl::ActuationModelAbstract> actuation; |
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StateModelFactory factory; |
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std::shared_ptr<crocoddyl::StateAbstract> state = factory.create(state_type); |
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std::shared_ptr<crocoddyl::StateMultibody> state_multibody; |
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// Thruster objects |
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std::vector<crocoddyl::Thruster> ps; |
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const double d_cog = 0.1525; |
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const double cf = 6.6e-5; |
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const double cm = 1e-6; |
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pinocchio::SE3 p1(Eigen::Matrix3d::Identity(), Eigen::Vector3d(d_cog, 0, 0)); |
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pinocchio::SE3 p2(Eigen::Matrix3d::Identity(), Eigen::Vector3d(0, d_cog, 0)); |
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pinocchio::SE3 p3(Eigen::Matrix3d::Identity(), Eigen::Vector3d(-d_cog, 0, 0)); |
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pinocchio::SE3 p4(Eigen::Matrix3d::Identity(), Eigen::Vector3d(0, -d_cog, 0)); |
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ps.push_back(crocoddyl::Thruster(p1, cm / cf, crocoddyl::ThrusterType::CCW)); |
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ps.push_back(crocoddyl::Thruster(p2, cm / cf, crocoddyl::ThrusterType::CW)); |
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ps.push_back(crocoddyl::Thruster(p3, cm / cf, crocoddyl::ThrusterType::CW)); |
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ps.push_back(crocoddyl::Thruster(p4, cm / cf, crocoddyl::ThrusterType::CCW)); |
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// Actuation Squashing objects |
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std::shared_ptr<crocoddyl::ActuationModelAbstract> act; |
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std::shared_ptr<crocoddyl::SquashingModelSmoothSat> squash; |
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Eigen::VectorXd lb; |
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Eigen::VectorXd ub; |
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switch (actuation_type) { |
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case ActuationModelTypes::ActuationModelFull: |
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state_multibody = |
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std::static_pointer_cast<crocoddyl::StateMultibody>(state); |
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actuation = |
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std::make_shared<crocoddyl::ActuationModelFull>(state_multibody); |
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break; |
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case ActuationModelTypes::ActuationModelFloatingBase: |
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state_multibody = |
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std::static_pointer_cast<crocoddyl::StateMultibody>(state); |
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actuation = std::make_shared<crocoddyl::ActuationModelFloatingBase>( |
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state_multibody); |
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break; |
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case ActuationModelTypes::ActuationModelFloatingBaseThrusters: |
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state_multibody = |
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std::static_pointer_cast<crocoddyl::StateMultibody>(state); |
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actuation = |
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std::make_shared<crocoddyl::ActuationModelFloatingBaseThrusters>( |
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state_multibody, ps); |
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break; |
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case ActuationModelTypes::ActuationModelSquashingFull: |
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state_multibody = |
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std::static_pointer_cast<crocoddyl::StateMultibody>(state); |
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act = std::make_shared<crocoddyl::ActuationModelFull>(state_multibody); |
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lb = Eigen::VectorXd::Zero(state->get_nv()); |
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ub = Eigen::VectorXd::Zero(state->get_nv()); |
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lb.fill(-100.0); |
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ub.fill(100.0); |
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squash = std::make_shared<crocoddyl::SquashingModelSmoothSat>( |
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lb, ub, state->get_nv()); |
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actuation = std::make_shared<crocoddyl::ActuationSquashingModel>( |
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act, squash, state->get_nv()); |
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break; |
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default: |
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throw_pretty(__FILE__ ":\n Construct wrong ActuationModelTypes::Type"); |
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break; |
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} |
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return actuation; |
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} |
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} // namespace unittest |
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} // namespace crocoddyl |
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