| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/centroidal-momentum.hxx |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 32 | 33 | 97.0% |
| Branches: | 23 | 46 | 50.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include <pinocchio/algorithm/centroidal-derivatives.hpp> | ||
| 10 | |||
| 11 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 12 | #include "crocoddyl/multibody/residuals/centroidal-momentum.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | |||
| 16 | template <typename Scalar> | ||
| 17 | 54 | ResidualModelCentroidalMomentumTpl<Scalar>::ResidualModelCentroidalMomentumTpl( | |
| 18 | boost::shared_ptr<StateMultibody> state, const Vector6s& href, | ||
| 19 | const std::size_t nu) | ||
| 20 | : Base(state, 6, nu, true, true, false), | ||
| 21 | 54 | href_(href), | |
| 22 |
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54 | pin_model_(state->get_pinocchio()) {} |
| 23 | |||
| 24 | template <typename Scalar> | ||
| 25 | 2 | ResidualModelCentroidalMomentumTpl<Scalar>::ResidualModelCentroidalMomentumTpl( | |
| 26 | boost::shared_ptr<StateMultibody> state, const Vector6s& href) | ||
| 27 | : Base(state, 6, true, true, false), | ||
| 28 | 2 | href_(href), | |
| 29 |
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2 | pin_model_(state->get_pinocchio()) {} |
| 30 | |||
| 31 | template <typename Scalar> | ||
| 32 | 116 | ResidualModelCentroidalMomentumTpl< | |
| 33 | 116 | Scalar>::~ResidualModelCentroidalMomentumTpl() {} | |
| 34 | |||
| 35 | template <typename Scalar> | ||
| 36 | 2070 | void ResidualModelCentroidalMomentumTpl<Scalar>::calc( | |
| 37 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 38 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 39 | // Compute the residual residual give the reference centroidal momentum | ||
| 40 | 2070 | Data* d = static_cast<Data*>(data.get()); | |
| 41 |
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2070 | data->r = d->pinocchio->hg.toVector() - href_; |
| 42 | 2070 | } | |
| 43 | |||
| 44 | template <typename Scalar> | ||
| 45 | 36 | void ResidualModelCentroidalMomentumTpl<Scalar>::calcDiff( | |
| 46 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 47 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 48 | 36 | Data* d = static_cast<Data*>(data.get()); | |
| 49 | 36 | const std::size_t& nv = state_->get_nv(); | |
| 50 |
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36 | Eigen::Ref<Matrix6xs> Rq(data->Rx.leftCols(nv)); |
| 51 |
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36 | Eigen::Ref<Matrix6xs> Rv(data->Rx.rightCols(nv)); |
| 52 |
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36 | pinocchio::getCentroidalDynamicsDerivatives(*pin_model_.get(), *d->pinocchio, |
| 53 | 36 | Rq, d->dhd_dq, d->dhd_dv, Rv); | |
| 54 | 36 | } | |
| 55 | |||
| 56 | template <typename Scalar> | ||
| 57 | boost::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 58 | 2404 | ResidualModelCentroidalMomentumTpl<Scalar>::createData( | |
| 59 | DataCollectorAbstract* const data) { | ||
| 60 | ✗ | return boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 61 |
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2404 | data); |
| 62 | } | ||
| 63 | |||
| 64 | template <typename Scalar> | ||
| 65 | 18 | void ResidualModelCentroidalMomentumTpl<Scalar>::print(std::ostream& os) const { | |
| 66 |
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36 | const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", |
| 67 | "]"); | ||
| 68 |
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18 | os << "ResidualModelCentroidalMomentum {href=" |
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18 | << href_.transpose().format(fmt) << "}"; |
| 70 | 18 | } | |
| 71 | |||
| 72 | template <typename Scalar> | ||
| 73 | const typename MathBaseTpl<Scalar>::Vector6s& | ||
| 74 | 1 | ResidualModelCentroidalMomentumTpl<Scalar>::get_reference() const { | |
| 75 | 1 | return href_; | |
| 76 | } | ||
| 77 | |||
| 78 | template <typename Scalar> | ||
| 79 | 1 | void ResidualModelCentroidalMomentumTpl<Scalar>::set_reference( | |
| 80 | const Vector6s& href) { | ||
| 81 | 1 | href_ = href; | |
| 82 | 1 | } | |
| 83 | |||
| 84 | } // namespace crocoddyl | ||
| 85 |