| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/multibody/residuals/contact-control-gravity.hxx |
| Date: | 2025-03-26 19:23:43 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 37 | 46 | 80.4% |
| Branches: | 31 | 74 | 41.9% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2025, 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/rnea-derivatives.hpp> | ||
| 11 | #include <pinocchio/algorithm/rnea.hpp> | ||
| 12 | |||
| 13 | #include "crocoddyl/multibody/residuals/contact-control-gravity.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | |||
| 17 | template <typename Scalar> | ||
| 18 | 39 | ResidualModelContactControlGravTpl<Scalar>::ResidualModelContactControlGravTpl( | |
| 19 | std::shared_ptr<StateMultibody> state, const std::size_t nu) | ||
| 20 | 39 | : Base(state, state->get_nv(), nu, true, false, true), | |
| 21 |
3/6✓ Branch 4 taken 39 times.
✗ Branch 5 not taken.
✓ Branch 9 taken 39 times.
✗ Branch 10 not taken.
✓ Branch 13 taken 39 times.
✗ Branch 14 not taken.
|
39 | pin_model_(*state->get_pinocchio()) { |
| 22 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 39 times.
|
39 | if (nu_ == 0) { |
| 23 | ✗ | throw_pretty("Invalid argument: " | |
| 24 | << "it seems to be an autonomous system, if so, don't add " | ||
| 25 | "this residual function"); | ||
| 26 | } | ||
| 27 | 39 | } | |
| 28 | |||
| 29 | template <typename Scalar> | ||
| 30 | 1 | ResidualModelContactControlGravTpl<Scalar>::ResidualModelContactControlGravTpl( | |
| 31 | std::shared_ptr<StateMultibody> state) | ||
| 32 | 2 | : Base(state, state->get_nv(), state->get_nv(), true, false, true), | |
| 33 |
3/6✓ Branch 6 taken 1 times.
✗ Branch 7 not taken.
✓ Branch 11 taken 1 times.
✗ Branch 12 not taken.
✓ Branch 15 taken 1 times.
✗ Branch 16 not taken.
|
1 | pin_model_(*state->get_pinocchio()) {} |
| 34 | |||
| 35 | template <typename Scalar> | ||
| 36 | 2772 | void ResidualModelContactControlGravTpl<Scalar>::calc( | |
| 37 | const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 38 | const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &) { | ||
| 39 | 2772 | Data *d = static_cast<Data *>(data.get()); | |
| 40 | |||
| 41 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 42 |
2/4✓ Branch 2 taken 2772 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 2772 times.
✗ Branch 6 not taken.
|
2772 | x.head(state_->get_nq()); |
| 43 |
2/4✓ Branch 2 taken 2772 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 2772 times.
✗ Branch 7 not taken.
|
2772 | data->r = d->actuation->tau - pinocchio::computeStaticTorque( |
| 44 |
1/2✓ Branch 1 taken 2772 times.
✗ Branch 2 not taken.
|
2772 | pin_model_, d->pinocchio, q, d->fext); |
| 45 | 2772 | } | |
| 46 | |||
| 47 | template <typename Scalar> | ||
| 48 | 2030 | void ResidualModelContactControlGravTpl<Scalar>::calc( | |
| 49 | const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 50 | const Eigen::Ref<const VectorXs> &x) { | ||
| 51 | 2030 | Data *d = static_cast<Data *>(data.get()); | |
| 52 | |||
| 53 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 54 |
2/4✓ Branch 2 taken 2030 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 2030 times.
✗ Branch 6 not taken.
|
2030 | x.head(state_->get_nq()); |
| 55 |
3/6✓ Branch 1 taken 2030 times.
✗ Branch 2 not taken.
✓ Branch 4 taken 2030 times.
✗ Branch 5 not taken.
✓ Branch 8 taken 2030 times.
✗ Branch 9 not taken.
|
2030 | data->r = -pinocchio::computeGeneralizedGravity(pin_model_, d->pinocchio, q); |
| 56 | 2030 | } | |
| 57 | |||
| 58 | template <typename Scalar> | ||
| 59 | 39 | void ResidualModelContactControlGravTpl<Scalar>::calcDiff( | |
| 60 | const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 61 | const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &) { | ||
| 62 | 39 | Data *d = static_cast<Data *>(data.get()); | |
| 63 | |||
| 64 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 65 |
2/4✓ Branch 2 taken 39 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 39 times.
✗ Branch 6 not taken.
|
39 | x.head(state_->get_nq()); |
| 66 | Eigen::Block<MatrixXs, Eigen::Dynamic, Eigen::Dynamic, true> Rq = | ||
| 67 |
2/4✓ Branch 3 taken 39 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 39 times.
✗ Branch 7 not taken.
|
39 | data->Rx.leftCols(state_->get_nv()); |
| 68 | 39 | pinocchio::computeStaticTorqueDerivatives(pin_model_, d->pinocchio, q, | |
| 69 |
1/2✓ Branch 1 taken 39 times.
✗ Branch 2 not taken.
|
39 | d->fext, Rq); |
| 70 |
1/2✓ Branch 1 taken 39 times.
✗ Branch 2 not taken.
|
39 | Rq *= Scalar(-1); |
| 71 |
1/2✓ Branch 3 taken 39 times.
✗ Branch 4 not taken.
|
39 | data->Ru = d->actuation->dtau_du; |
| 72 | 39 | } | |
| 73 | |||
| 74 | template <typename Scalar> | ||
| 75 | 39 | void ResidualModelContactControlGravTpl<Scalar>::calcDiff( | |
| 76 | const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 77 | const Eigen::Ref<const VectorXs> &x) { | ||
| 78 | 39 | Data *d = static_cast<Data *>(data.get()); | |
| 79 | |||
| 80 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 81 |
2/4✓ Branch 2 taken 39 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 39 times.
✗ Branch 6 not taken.
|
39 | x.head(state_->get_nq()); |
| 82 | Eigen::Block<MatrixXs, Eigen::Dynamic, Eigen::Dynamic, true> Rq = | ||
| 83 |
2/4✓ Branch 3 taken 39 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 39 times.
✗ Branch 7 not taken.
|
39 | data->Rx.leftCols(state_->get_nv()); |
| 84 |
1/2✓ Branch 1 taken 39 times.
✗ Branch 2 not taken.
|
39 | pinocchio::computeGeneralizedGravityDerivatives(pin_model_, d->pinocchio, q, |
| 85 | Rq); | ||
| 86 |
1/2✓ Branch 1 taken 39 times.
✗ Branch 2 not taken.
|
39 | Rq *= Scalar(-1); |
| 87 | 39 | } | |
| 88 | |||
| 89 | template <typename Scalar> | ||
| 90 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 91 | 2774 | ResidualModelContactControlGravTpl<Scalar>::createData( | |
| 92 | DataCollectorAbstract *const data) { | ||
| 93 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 94 |
1/2✓ Branch 2 taken 2774 times.
✗ Branch 3 not taken.
|
2774 | data); |
| 95 | } | ||
| 96 | |||
| 97 | template <typename Scalar> | ||
| 98 | template <typename NewScalar> | ||
| 99 | ResidualModelContactControlGravTpl<NewScalar> | ||
| 100 | ✗ | ResidualModelContactControlGravTpl<Scalar>::cast() const { | |
| 101 | typedef ResidualModelContactControlGravTpl<NewScalar> ReturnType; | ||
| 102 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 103 | ✗ | ReturnType ret( | |
| 104 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 105 | ✗ | nu_); | |
| 106 | ✗ | return ret; | |
| 107 | } | ||
| 108 | |||
| 109 | template <typename Scalar> | ||
| 110 | ✗ | void ResidualModelContactControlGravTpl<Scalar>::print(std::ostream &os) const { | |
| 111 | ✗ | os << "ResidualModelContactControlGrav"; | |
| 112 | } | ||
| 113 | |||
| 114 | } // namespace crocoddyl | ||
| 115 |