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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, 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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ResidualModelCentroidalMomentumTpl<Scalar>::ResidualModelCentroidalMomentumTpl( |
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std::shared_ptr<StateMultibody> state, const Vector6s& href, |
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const std::size_t nu) |
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: Base(state, 6, nu, true, true, false), |
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href_(href), |
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pin_model_(state->get_pinocchio()) {} |
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template <typename Scalar> |
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ResidualModelCentroidalMomentumTpl<Scalar>::ResidualModelCentroidalMomentumTpl( |
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std::shared_ptr<StateMultibody> state, const Vector6s& href) |
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: Base(state, 6, true, true, false), |
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href_(href), |
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pin_model_(state->get_pinocchio()) {} |
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template <typename Scalar> |
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void ResidualModelCentroidalMomentumTpl<Scalar>::calc( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { |
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// Compute the residual residual give the reference centroidal momentum |
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Data* d = static_cast<Data*>(data.get()); |
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data->r = d->pinocchio->hg.toVector() - href_; |
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} |
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template <typename Scalar> |
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void ResidualModelCentroidalMomentumTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { |
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Data* d = static_cast<Data*>(data.get()); |
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const std::size_t& nv = state_->get_nv(); |
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Eigen::Ref<Matrix6xs> Rq(data->Rx.leftCols(nv)); |
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Eigen::Ref<Matrix6xs> Rv(data->Rx.rightCols(nv)); |
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pinocchio::getCentroidalDynamicsDerivatives(*pin_model_.get(), *d->pinocchio, |
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Rq, d->dhd_dq, d->dhd_dv, Rv); |
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} |
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template <typename Scalar> |
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std::shared_ptr<ResidualDataAbstractTpl<Scalar> > |
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ResidualModelCentroidalMomentumTpl<Scalar>::createData( |
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DataCollectorAbstract* const data) { |
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return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, |
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data); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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ResidualModelCentroidalMomentumTpl<NewScalar> |
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ResidualModelCentroidalMomentumTpl<Scalar>::cast() const { |
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typedef ResidualModelCentroidalMomentumTpl<NewScalar> ReturnType; |
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typedef StateMultibodyTpl<NewScalar> StateType; |
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ReturnType ret( |
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std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), |
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href_.template cast<NewScalar>(), nu_); |
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return ret; |
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} |
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template <typename Scalar> |
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void ResidualModelCentroidalMomentumTpl<Scalar>::print(std::ostream& os) const { |
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const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", |
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"]"); |
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os << "ResidualModelCentroidalMomentum {href=" |
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<< href_.transpose().format(fmt) << "}"; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::Vector6s& |
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ResidualModelCentroidalMomentumTpl<Scalar>::get_reference() const { |
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return href_; |
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} |
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template <typename Scalar> |
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void ResidualModelCentroidalMomentumTpl<Scalar>::set_reference( |
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const Vector6s& href) { |
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href_ = href; |
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} |
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} // namespace crocoddyl |
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