| 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 | namespace crocoddyl { | ||
| 11 | |||
| 12 | template <typename Scalar> | ||
| 13 | ✗ | ResidualModelContactControlGravTpl<Scalar>::ResidualModelContactControlGravTpl( | |
| 14 | std::shared_ptr<StateMultibody> state, const std::size_t nu) | ||
| 15 | ✗ | : Base(state, state->get_nv(), nu, true, false, true), | |
| 16 | ✗ | pin_model_(*state->get_pinocchio()) { | |
| 17 | ✗ | if (nu_ == 0) { | |
| 18 | ✗ | throw_pretty("Invalid argument: " | |
| 19 | << "it seems to be an autonomous system, if so, don't add " | ||
| 20 | "this residual function"); | ||
| 21 | } | ||
| 22 | ✗ | } | |
| 23 | |||
| 24 | template <typename Scalar> | ||
| 25 | ✗ | ResidualModelContactControlGravTpl<Scalar>::ResidualModelContactControlGravTpl( | |
| 26 | std::shared_ptr<StateMultibody> state) | ||
| 27 | ✗ | : Base(state, state->get_nv(), state->get_nv(), true, false, true), | |
| 28 | ✗ | pin_model_(*state->get_pinocchio()) {} | |
| 29 | |||
| 30 | template <typename Scalar> | ||
| 31 | ✗ | void ResidualModelContactControlGravTpl<Scalar>::calc( | |
| 32 | const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 33 | const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &) { | ||
| 34 | ✗ | Data *d = static_cast<Data *>(data.get()); | |
| 35 | |||
| 36 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 37 | ✗ | x.head(state_->get_nq()); | |
| 38 | ✗ | data->r = d->actuation->tau - pinocchio::computeStaticTorque( | |
| 39 | ✗ | pin_model_, d->pinocchio, q, d->fext); | |
| 40 | ✗ | } | |
| 41 | |||
| 42 | template <typename Scalar> | ||
| 43 | ✗ | void ResidualModelContactControlGravTpl<Scalar>::calc( | |
| 44 | const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 45 | const Eigen::Ref<const VectorXs> &x) { | ||
| 46 | ✗ | Data *d = static_cast<Data *>(data.get()); | |
| 47 | |||
| 48 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 49 | ✗ | x.head(state_->get_nq()); | |
| 50 | ✗ | data->r = -pinocchio::computeGeneralizedGravity(pin_model_, d->pinocchio, q); | |
| 51 | ✗ | } | |
| 52 | |||
| 53 | template <typename Scalar> | ||
| 54 | ✗ | void ResidualModelContactControlGravTpl<Scalar>::calcDiff( | |
| 55 | const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 56 | const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &) { | ||
| 57 | ✗ | Data *d = static_cast<Data *>(data.get()); | |
| 58 | |||
| 59 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 60 | ✗ | x.head(state_->get_nq()); | |
| 61 | Eigen::Block<MatrixXs, Eigen::Dynamic, Eigen::Dynamic, true> Rq = | ||
| 62 | ✗ | data->Rx.leftCols(state_->get_nv()); | |
| 63 | ✗ | pinocchio::computeStaticTorqueDerivatives(pin_model_, d->pinocchio, q, | |
| 64 | ✗ | d->fext, Rq); | |
| 65 | ✗ | Rq *= Scalar(-1); | |
| 66 | ✗ | data->Ru = d->actuation->dtau_du; | |
| 67 | ✗ | } | |
| 68 | |||
| 69 | template <typename Scalar> | ||
| 70 | ✗ | void ResidualModelContactControlGravTpl<Scalar>::calcDiff( | |
| 71 | const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 72 | const Eigen::Ref<const VectorXs> &x) { | ||
| 73 | ✗ | Data *d = static_cast<Data *>(data.get()); | |
| 74 | |||
| 75 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 76 | ✗ | x.head(state_->get_nq()); | |
| 77 | Eigen::Block<MatrixXs, Eigen::Dynamic, Eigen::Dynamic, true> Rq = | ||
| 78 | ✗ | data->Rx.leftCols(state_->get_nv()); | |
| 79 | ✗ | pinocchio::computeGeneralizedGravityDerivatives(pin_model_, d->pinocchio, q, | |
| 80 | Rq); | ||
| 81 | ✗ | Rq *= Scalar(-1); | |
| 82 | ✗ | } | |
| 83 | |||
| 84 | template <typename Scalar> | ||
| 85 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 86 | ✗ | ResidualModelContactControlGravTpl<Scalar>::createData( | |
| 87 | DataCollectorAbstract *const data) { | ||
| 88 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 89 | ✗ | data); | |
| 90 | } | ||
| 91 | |||
| 92 | template <typename Scalar> | ||
| 93 | template <typename NewScalar> | ||
| 94 | ResidualModelContactControlGravTpl<NewScalar> | ||
| 95 | ✗ | ResidualModelContactControlGravTpl<Scalar>::cast() const { | |
| 96 | typedef ResidualModelContactControlGravTpl<NewScalar> ReturnType; | ||
| 97 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 98 | ✗ | ReturnType ret( | |
| 99 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 100 | ✗ | nu_); | |
| 101 | ✗ | return ret; | |
| 102 | } | ||
| 103 | |||
| 104 | template <typename Scalar> | ||
| 105 | ✗ | void ResidualModelContactControlGravTpl<Scalar>::print(std::ostream &os) const { | |
| 106 | ✗ | os << "ResidualModelContactControlGrav"; | |
| 107 | ✗ | } | |
| 108 | |||
| 109 | } // namespace crocoddyl | ||
| 110 |