| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/com-position.hxx |
| Date: | 2025-01-16 08:47:40 |
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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 "crocoddyl/core/utils/exception.hpp" | ||
| 10 | #include "crocoddyl/multibody/residuals/com-position.hpp" | ||
| 11 | |||
| 12 | namespace crocoddyl { | ||
| 13 | |||
| 14 | template <typename Scalar> | ||
| 15 | 340 | ResidualModelCoMPositionTpl<Scalar>::ResidualModelCoMPositionTpl( | |
| 16 | boost::shared_ptr<StateMultibody> state, const Vector3s& cref, | ||
| 17 | const std::size_t nu) | ||
| 18 |
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340 | : Base(state, 3, nu, true, false, false), cref_(cref) {} |
| 19 | |||
| 20 | template <typename Scalar> | ||
| 21 | 4 | ResidualModelCoMPositionTpl<Scalar>::ResidualModelCoMPositionTpl( | |
| 22 | boost::shared_ptr<StateMultibody> state, const Vector3s& cref) | ||
| 23 |
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4 | : Base(state, 3, true, false, false), cref_(cref) {} |
| 24 | |||
| 25 | template <typename Scalar> | ||
| 26 | 692 | ResidualModelCoMPositionTpl<Scalar>::~ResidualModelCoMPositionTpl() {} | |
| 27 | |||
| 28 | template <typename Scalar> | ||
| 29 | 8199 | void ResidualModelCoMPositionTpl<Scalar>::calc( | |
| 30 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 31 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 32 | // Compute the residual residual give the reference CoMPosition position | ||
| 33 | 8199 | Data* d = static_cast<Data*>(data.get()); | |
| 34 |
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8199 | data->r = d->pinocchio->com[0] - cref_; |
| 35 | 8199 | } | |
| 36 | |||
| 37 | template <typename Scalar> | ||
| 38 | 276 | void ResidualModelCoMPositionTpl<Scalar>::calcDiff( | |
| 39 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 40 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 41 | 276 | Data* d = static_cast<Data*>(data.get()); | |
| 42 | |||
| 43 | // Compute the derivatives of the frame placement | ||
| 44 | 276 | const std::size_t nv = state_->get_nv(); | |
| 45 |
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276 | data->Rx.leftCols(nv) = d->pinocchio->Jcom; |
| 46 | 276 | } | |
| 47 | |||
| 48 | template <typename Scalar> | ||
| 49 | boost::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 50 | 9538 | ResidualModelCoMPositionTpl<Scalar>::createData( | |
| 51 | DataCollectorAbstract* const data) { | ||
| 52 | ✗ | return boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 53 |
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9538 | data); |
| 54 | } | ||
| 55 | |||
| 56 | template <typename Scalar> | ||
| 57 | 63 | void ResidualModelCoMPositionTpl<Scalar>::print(std::ostream& os) const { | |
| 58 |
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126 | const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", |
| 59 | "]"); | ||
| 60 |
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126 | os << "ResidualModelCoMPosition {cref=" << cref_.transpose().format(fmt) |
| 61 |
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63 | << "}"; |
| 62 | 63 | } | |
| 63 | |||
| 64 | template <typename Scalar> | ||
| 65 | const typename MathBaseTpl<Scalar>::Vector3s& | ||
| 66 | 1 | ResidualModelCoMPositionTpl<Scalar>::get_reference() const { | |
| 67 | 1 | return cref_; | |
| 68 | } | ||
| 69 | |||
| 70 | template <typename Scalar> | ||
| 71 | 1 | void ResidualModelCoMPositionTpl<Scalar>::set_reference(const Vector3s& cref) { | |
| 72 | 1 | cref_ = cref; | |
| 73 | 1 | } | |
| 74 | |||
| 75 | } // namespace crocoddyl | ||
| 76 |