| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/com-position.hpp |
| Date: | 2025-03-26 19:23:43 |
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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 | #ifndef CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/residual-base.hpp" | ||
| 14 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 15 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 16 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | /** | ||
| 21 | * @brief CoM position residual | ||
| 22 | * | ||
| 23 | * This residual function defines the CoM tracking as | ||
| 24 | * \f$\mathbf{r}=\mathbf{c}-\mathbf{c}^*\f$, where | ||
| 25 | * \f$\mathbf{c},\mathbf{c}^*\in~\mathbb{R}^3\f$ are the current and reference | ||
| 26 | * CoM position, respectively. Note that the dimension of the residual vector is | ||
| 27 | * obtained from 3. Furthermore, the Jacobians of the residual function are | ||
| 28 | * computed analytically. | ||
| 29 | * | ||
| 30 | * As described in `ResidualModelAbstractTpl()`, the residual value and its | ||
| 31 | * Jacobians are calculated by `calc` and `calcDiff`, respectively. | ||
| 32 | * | ||
| 33 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 34 | */ | ||
| 35 | template <typename _Scalar> | ||
| 36 | class ResidualModelCoMPositionTpl : public ResidualModelAbstractTpl<_Scalar> { | ||
| 37 | public: | ||
| 38 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 39 | ✗ | CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelCoMPositionTpl) | |
| 40 | |||
| 41 | typedef _Scalar Scalar; | ||
| 42 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 43 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 44 | typedef ResidualDataCoMPositionTpl<Scalar> Data; | ||
| 45 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 46 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 47 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 48 | typedef typename MathBase::Vector3s Vector3s; | ||
| 49 | typedef typename MathBase::VectorXs VectorXs; | ||
| 50 | |||
| 51 | /** | ||
| 52 | * @brief Initialize the CoM position residual model | ||
| 53 | * | ||
| 54 | * @param[in] state State of the multibody system | ||
| 55 | * @param[in] cref Reference CoM position | ||
| 56 | * @param[in] nu Dimension of the control vector | ||
| 57 | */ | ||
| 58 | ResidualModelCoMPositionTpl(std::shared_ptr<StateMultibody> state, | ||
| 59 | const Vector3s& cref, const std::size_t nu); | ||
| 60 | |||
| 61 | /** | ||
| 62 | * @brief Initialize the CoM position residual model | ||
| 63 | * | ||
| 64 | * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. | ||
| 65 | * | ||
| 66 | * @param[in] state State of the multibody system | ||
| 67 | * @param[in] cref Reference CoM position | ||
| 68 | */ | ||
| 69 | ResidualModelCoMPositionTpl(std::shared_ptr<StateMultibody> state, | ||
| 70 | const Vector3s& cref); | ||
| 71 | 724 | virtual ~ResidualModelCoMPositionTpl() = default; | |
| 72 | |||
| 73 | /** | ||
| 74 | * @brief Compute the CoM position residual | ||
| 75 | * | ||
| 76 | * @param[in] data CoM position residual data | ||
| 77 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 78 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 79 | */ | ||
| 80 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 81 | const Eigen::Ref<const VectorXs>& x, | ||
| 82 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 83 | |||
| 84 | /** | ||
| 85 | * @brief Compute the derivatives of the CoM position residual | ||
| 86 | * | ||
| 87 | * @param[in] data CoM position residual data | ||
| 88 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 89 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 90 | */ | ||
| 91 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 92 | const Eigen::Ref<const VectorXs>& x, | ||
| 93 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 94 | virtual std::shared_ptr<ResidualDataAbstract> createData( | ||
| 95 | DataCollectorAbstract* const data) override; | ||
| 96 | |||
| 97 | /** | ||
| 98 | * @brief Cast the com-position residual model to a different scalar type. | ||
| 99 | * | ||
| 100 | * It is useful for operations requiring different precision or scalar types. | ||
| 101 | * | ||
| 102 | * @tparam NewScalar The new scalar type to cast to. | ||
| 103 | * @return ResidualModelCoMPositionTpl<NewScalar> A residual model with the | ||
| 104 | * new scalar type. | ||
| 105 | */ | ||
| 106 | template <typename NewScalar> | ||
| 107 | ResidualModelCoMPositionTpl<NewScalar> cast() const; | ||
| 108 | |||
| 109 | /** | ||
| 110 | * @brief Return the CoM position reference | ||
| 111 | */ | ||
| 112 | const Vector3s& get_reference() const; | ||
| 113 | |||
| 114 | /** | ||
| 115 | * @brief Modify the CoM position reference | ||
| 116 | */ | ||
| 117 | void set_reference(const Vector3s& cref); | ||
| 118 | |||
| 119 | /** | ||
| 120 | * @brief Print relevant information of the com-position residual | ||
| 121 | * | ||
| 122 | * @param[out] os Output stream object | ||
| 123 | */ | ||
| 124 | virtual void print(std::ostream& os) const override; | ||
| 125 | |||
| 126 | protected: | ||
| 127 | using Base::nu_; | ||
| 128 | using Base::state_; | ||
| 129 | using Base::u_dependent_; | ||
| 130 | using Base::v_dependent_; | ||
| 131 | |||
| 132 | private: | ||
| 133 | Vector3s cref_; //!< Reference CoM position | ||
| 134 | }; | ||
| 135 | |||
| 136 | template <typename _Scalar> | ||
| 137 | struct ResidualDataCoMPositionTpl : public ResidualDataAbstractTpl<_Scalar> { | ||
| 138 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 139 | |||
| 140 | typedef _Scalar Scalar; | ||
| 141 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 142 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 143 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 144 | typedef typename MathBase::Matrix3xs Matrix3xs; | ||
| 145 | |||
| 146 | template <template <typename Scalar> class Model> | ||
| 147 | 9579 | ResidualDataCoMPositionTpl(Model<Scalar>* const model, | |
| 148 | DataCollectorAbstract* const data) | ||
| 149 | 9579 | : Base(model, data) { | |
| 150 | // Check that proper shared data has been passed | ||
| 151 | 9579 | DataCollectorMultibodyTpl<Scalar>* d = | |
| 152 |
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9579 | dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared); |
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9579 | if (d == NULL) { |
| 154 | ✗ | throw_pretty( | |
| 155 | "Invalid argument: the shared data should be derived from " | ||
| 156 | "DataCollectorMultibody"); | ||
| 157 | } | ||
| 158 | |||
| 159 | // Avoids data casting at runtime | ||
| 160 | 9579 | pinocchio = d->pinocchio; | |
| 161 | 9579 | } | |
| 162 | 19115 | virtual ~ResidualDataCoMPositionTpl() = default; | |
| 163 | |||
| 164 | pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data | ||
| 165 | using Base::r; | ||
| 166 | using Base::Ru; | ||
| 167 | using Base::Rx; | ||
| 168 | using Base::shared; | ||
| 169 | }; | ||
| 170 | |||
| 171 | } // namespace crocoddyl | ||
| 172 | |||
| 173 | /* --- Details -------------------------------------------------------------- */ | ||
| 174 | /* --- Details -------------------------------------------------------------- */ | ||
| 175 | /* --- Details -------------------------------------------------------------- */ | ||
| 176 | #include "crocoddyl/multibody/residuals/com-position.hxx" | ||
| 177 | |||
| 178 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelCoMPositionTpl) | ||
| 179 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ResidualDataCoMPositionTpl) | ||
| 180 | |||
| 181 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_ | ||
| 182 |