| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/multibody/residuals/centroidal-momentum.hxx |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 30 | 36 | 83.3% |
| Branches: | 26 | 58 | 44.8% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, 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 <pinocchio/algorithm/centroidal-derivatives.hpp> | ||
| 11 | |||
| 12 | #include "crocoddyl/multibody/residuals/centroidal-momentum.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | |||
| 16 | template <typename Scalar> | ||
| 17 | 54 | ResidualModelCentroidalMomentumTpl<Scalar>::ResidualModelCentroidalMomentumTpl( | |
| 18 | std::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 | std::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 | 2070 | void ResidualModelCentroidalMomentumTpl<Scalar>::calc( | |
| 33 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 34 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 35 | // Compute the residual residual give the reference centroidal momentum | ||
| 36 | 2070 | Data* d = static_cast<Data*>(data.get()); | |
| 37 |
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2070 | data->r = d->pinocchio->hg.toVector() - href_; |
| 38 | 2070 | } | |
| 39 | |||
| 40 | template <typename Scalar> | ||
| 41 | 36 | void ResidualModelCentroidalMomentumTpl<Scalar>::calcDiff( | |
| 42 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 43 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 44 | 36 | Data* d = static_cast<Data*>(data.get()); | |
| 45 |
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36 | const std::size_t& nv = state_->get_nv(); |
| 46 |
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36 | Eigen::Ref<Matrix6xs> Rq(data->Rx.leftCols(nv)); |
| 47 |
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36 | Eigen::Ref<Matrix6xs> Rv(data->Rx.rightCols(nv)); |
| 48 |
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36 | pinocchio::getCentroidalDynamicsDerivatives(*pin_model_.get(), *d->pinocchio, |
| 49 | 36 | Rq, d->dhd_dq, d->dhd_dv, Rv); | |
| 50 | 36 | } | |
| 51 | |||
| 52 | template <typename Scalar> | ||
| 53 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 54 | 2404 | ResidualModelCentroidalMomentumTpl<Scalar>::createData( | |
| 55 | DataCollectorAbstract* const data) { | ||
| 56 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 57 |
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2404 | data); |
| 58 | } | ||
| 59 | |||
| 60 | template <typename Scalar> | ||
| 61 | template <typename NewScalar> | ||
| 62 | ResidualModelCentroidalMomentumTpl<NewScalar> | ||
| 63 | ✗ | ResidualModelCentroidalMomentumTpl<Scalar>::cast() const { | |
| 64 | typedef ResidualModelCentroidalMomentumTpl<NewScalar> ReturnType; | ||
| 65 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 66 | ✗ | ReturnType ret( | |
| 67 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 68 | ✗ | href_.template cast<NewScalar>(), nu_); | |
| 69 | ✗ | return ret; | |
| 70 | } | ||
| 71 | |||
| 72 | template <typename Scalar> | ||
| 73 | 18 | void ResidualModelCentroidalMomentumTpl<Scalar>::print(std::ostream& os) const { | |
| 74 |
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36 | const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", |
| 75 | "]"); | ||
| 76 |
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18 | os << "ResidualModelCentroidalMomentum {href=" |
| 77 |
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18 | << href_.transpose().format(fmt) << "}"; |
| 78 | 18 | } | |
| 79 | |||
| 80 | template <typename Scalar> | ||
| 81 | const typename MathBaseTpl<Scalar>::Vector6s& | ||
| 82 | 1 | ResidualModelCentroidalMomentumTpl<Scalar>::get_reference() const { | |
| 83 | 1 | return href_; | |
| 84 | } | ||
| 85 | |||
| 86 | template <typename Scalar> | ||
| 87 | 1 | void ResidualModelCentroidalMomentumTpl<Scalar>::set_reference( | |
| 88 | const Vector6s& href) { | ||
| 89 | 1 | href_ = href; | |
| 90 | 1 | } | |
| 91 | |||
| 92 | } // namespace crocoddyl | ||
| 93 |