| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2025, University of Duisburg-Essen, | ||
| 5 | // University of Edinburgh, 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 | ✗ | ResidualModelContactCoPPositionTpl<_Scalar>::ResidualModelContactCoPPositionTpl( | |
| 14 | std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 15 | const CoPSupport& cref, const std::size_t nu, const bool fwddyn) | ||
| 16 | : Base(state, 4, nu, fwddyn ? true : false, fwddyn ? true : false, true), | ||
| 17 | ✗ | fwddyn_(fwddyn), | |
| 18 | ✗ | update_jacobians_(true), | |
| 19 | ✗ | id_(id), | |
| 20 | ✗ | cref_(cref) {} | |
| 21 | |||
| 22 | template <typename _Scalar> | ||
| 23 | ✗ | ResidualModelContactCoPPositionTpl<_Scalar>::ResidualModelContactCoPPositionTpl( | |
| 24 | std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 25 | const CoPSupport& cref) | ||
| 26 | : Base(state, 4), | ||
| 27 | ✗ | fwddyn_(true), | |
| 28 | ✗ | update_jacobians_(true), | |
| 29 | ✗ | id_(id), | |
| 30 | ✗ | cref_(cref) {} | |
| 31 | |||
| 32 | template <typename Scalar> | ||
| 33 | ✗ | void ResidualModelContactCoPPositionTpl<Scalar>::calc( | |
| 34 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 35 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 36 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 37 | |||
| 38 | // Compute the residual residual r = A * f | ||
| 39 | ✗ | data->r.noalias() = cref_.get_A() * d->contact->f.toVector(); | |
| 40 | ✗ | } | |
| 41 | |||
| 42 | template <typename Scalar> | ||
| 43 | ✗ | void ResidualModelContactCoPPositionTpl<Scalar>::calc( | |
| 44 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 45 | const Eigen::Ref<const VectorXs>&) { | ||
| 46 | ✗ | data->r.setZero(); | |
| 47 | ✗ | } | |
| 48 | |||
| 49 | template <typename Scalar> | ||
| 50 | ✗ | void ResidualModelContactCoPPositionTpl<Scalar>::calcDiff( | |
| 51 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 52 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 53 | ✗ | if (fwddyn_ || update_jacobians_) { | |
| 54 | ✗ | updateJacobians(data); | |
| 55 | } | ||
| 56 | ✗ | } | |
| 57 | |||
| 58 | template <typename Scalar> | ||
| 59 | ✗ | void ResidualModelContactCoPPositionTpl<Scalar>::calcDiff( | |
| 60 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 61 | const Eigen::Ref<const VectorXs>&) { | ||
| 62 | ✗ | data->Rx.setZero(); | |
| 63 | ✗ | } | |
| 64 | |||
| 65 | template <typename Scalar> | ||
| 66 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 67 | ✗ | ResidualModelContactCoPPositionTpl<Scalar>::createData( | |
| 68 | DataCollectorAbstract* const data) { | ||
| 69 | ✗ | std::shared_ptr<ResidualDataAbstract> d = | |
| 70 | ✗ | std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, data); | |
| 71 | ✗ | if (!fwddyn_) { | |
| 72 | ✗ | updateJacobians(d); | |
| 73 | } | ||
| 74 | ✗ | return d; | |
| 75 | ✗ | } | |
| 76 | |||
| 77 | template <typename Scalar> | ||
| 78 | ✗ | void ResidualModelContactCoPPositionTpl<Scalar>::updateJacobians( | |
| 79 | const std::shared_ptr<ResidualDataAbstract>& data) { | ||
| 80 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 81 | |||
| 82 | ✗ | const MatrixXs& df_dx = d->contact->df_dx; | |
| 83 | ✗ | const MatrixXs& df_du = d->contact->df_du; | |
| 84 | ✗ | const Matrix46& A = cref_.get_A(); | |
| 85 | ✗ | data->Rx.noalias() = A * df_dx; | |
| 86 | ✗ | data->Ru.noalias() = A * df_du; | |
| 87 | ✗ | update_jacobians_ = false; | |
| 88 | ✗ | } | |
| 89 | |||
| 90 | template <typename Scalar> | ||
| 91 | template <typename NewScalar> | ||
| 92 | ResidualModelContactCoPPositionTpl<NewScalar> | ||
| 93 | ✗ | ResidualModelContactCoPPositionTpl<Scalar>::cast() const { | |
| 94 | typedef ResidualModelContactCoPPositionTpl<NewScalar> ReturnType; | ||
| 95 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 96 | ✗ | ReturnType ret( | |
| 97 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 98 | ✗ | id_, cref_.template cast<NewScalar>(), nu_, fwddyn_); | |
| 99 | ✗ | return ret; | |
| 100 | } | ||
| 101 | |||
| 102 | template <typename Scalar> | ||
| 103 | ✗ | void ResidualModelContactCoPPositionTpl<Scalar>::print(std::ostream& os) const { | |
| 104 | ✗ | std::shared_ptr<StateMultibody> s = | |
| 105 | ✗ | std::static_pointer_cast<StateMultibody>(state_); | |
| 106 | ✗ | const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", | |
| 107 | "]"); | ||
| 108 | os << "ResidualModelContactCoPPosition {frame=" | ||
| 109 | ✗ | << s->get_pinocchio()->frames[id_].name | |
| 110 | ✗ | << ", box=" << cref_.get_box().transpose().format(fmt) << "}"; | |
| 111 | ✗ | } | |
| 112 | |||
| 113 | template <typename Scalar> | ||
| 114 | ✗ | bool ResidualModelContactCoPPositionTpl<Scalar>::is_fwddyn() const { | |
| 115 | ✗ | return fwddyn_; | |
| 116 | } | ||
| 117 | |||
| 118 | template <typename Scalar> | ||
| 119 | ✗ | pinocchio::FrameIndex ResidualModelContactCoPPositionTpl<Scalar>::get_id() | |
| 120 | const { | ||
| 121 | ✗ | return id_; | |
| 122 | } | ||
| 123 | |||
| 124 | template <typename Scalar> | ||
| 125 | const CoPSupportTpl<Scalar>& | ||
| 126 | ✗ | ResidualModelContactCoPPositionTpl<Scalar>::get_reference() const { | |
| 127 | ✗ | return cref_; | |
| 128 | } | ||
| 129 | |||
| 130 | template <typename Scalar> | ||
| 131 | ✗ | void ResidualModelContactCoPPositionTpl<Scalar>::set_id( | |
| 132 | const pinocchio::FrameIndex id) { | ||
| 133 | ✗ | id_ = id; | |
| 134 | ✗ | } | |
| 135 | |||
| 136 | template <typename Scalar> | ||
| 137 | ✗ | void ResidualModelContactCoPPositionTpl<Scalar>::set_reference( | |
| 138 | const CoPSupport& reference) { | ||
| 139 | ✗ | cref_ = reference; | |
| 140 | ✗ | update_jacobians_ = true; | |
| 141 | ✗ | } | |
| 142 | |||
| 143 | } // namespace crocoddyl | ||
| 144 |