| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/control-gravity.hpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2021, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_ | ||
| 10 | #define CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/residual-base.hpp" | ||
| 13 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 14 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 15 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | |||
| 19 | /** | ||
| 20 | * @brief Control gravity residual | ||
| 21 | * | ||
| 22 | * This residual function is defined as | ||
| 23 | * \f$\mathbf{r}=\mathbf{u}-\mathbf{g}(\mathbf{q})\f$, where | ||
| 24 | * \f$\mathbf{u}\in~\mathbb{R}^{nu}\f$ is the current control input, | ||
| 25 | * \f$\mathbf{g}(\mathbf{q})\f$ is the gravity torque corresponding to the | ||
| 26 | * current configuration, \f$\mathbf{q}\in~\mathbb{R}^{nq}\f$ the current | ||
| 27 | * position joints input. Note that the dimension of the residual vector is | ||
| 28 | * obtained from `StateAbstractTpl::get_nv()`. | ||
| 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 ResidualModelControlGravTpl : public ResidualModelAbstractTpl<_Scalar> { | ||
| 37 | public: | ||
| 38 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 39 | |||
| 40 | typedef _Scalar Scalar; | ||
| 41 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 42 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 43 | typedef ResidualDataControlGravTpl<Scalar> Data; | ||
| 44 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 45 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 46 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 47 | typedef typename MathBase::VectorXs VectorXs; | ||
| 48 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 49 | |||
| 50 | /** | ||
| 51 | * @brief Initialize the control gravity residual model | ||
| 52 | * | ||
| 53 | * @param[in] state State of the multibody system | ||
| 54 | * @param[in] nu Dimension of control vector | ||
| 55 | */ | ||
| 56 | ResidualModelControlGravTpl(boost::shared_ptr<StateMultibody> state, | ||
| 57 | const std::size_t nu); | ||
| 58 | |||
| 59 | /** | ||
| 60 | * @brief Initialize the control gravity residual model | ||
| 61 | * | ||
| 62 | * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. | ||
| 63 | * | ||
| 64 | * @param[in] state State of the multibody system | ||
| 65 | */ | ||
| 66 | ResidualModelControlGravTpl(boost::shared_ptr<StateMultibody> state); | ||
| 67 | virtual ~ResidualModelControlGravTpl(); | ||
| 68 | |||
| 69 | /** | ||
| 70 | * @brief Compute the control gravity residual | ||
| 71 | * | ||
| 72 | * @param[in] data Control residual data | ||
| 73 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 74 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 75 | */ | ||
| 76 | virtual void calc(const boost::shared_ptr<ResidualDataAbstract> &data, | ||
| 77 | const Eigen::Ref<const VectorXs> &x, | ||
| 78 | const Eigen::Ref<const VectorXs> &u); | ||
| 79 | |||
| 80 | /** | ||
| 81 | * @brief @copydoc Base::calc(const boost::shared_ptr<ResidualDataAbstract>& | ||
| 82 | * data, const Eigen::Ref<const VectorXs>& x) | ||
| 83 | */ | ||
| 84 | virtual void calc(const boost::shared_ptr<ResidualDataAbstract> &data, | ||
| 85 | const Eigen::Ref<const VectorXs> &x); | ||
| 86 | |||
| 87 | /** | ||
| 88 | * @brief Compute the Jacobians of the control gravity residual | ||
| 89 | * | ||
| 90 | * @param[in] data Control residual data | ||
| 91 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 92 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 93 | */ | ||
| 94 | virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract> &data, | ||
| 95 | const Eigen::Ref<const VectorXs> &x, | ||
| 96 | const Eigen::Ref<const VectorXs> &u); | ||
| 97 | |||
| 98 | /** | ||
| 99 | * @brief @copydoc Base::calcDiff(const | ||
| 100 | * boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const | ||
| 101 | * VectorXs>& x) | ||
| 102 | */ | ||
| 103 | virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract> &data, | ||
| 104 | const Eigen::Ref<const VectorXs> &x); | ||
| 105 | |||
| 106 | virtual boost::shared_ptr<ResidualDataAbstract> createData( | ||
| 107 | DataCollectorAbstract *const data); | ||
| 108 | |||
| 109 | /** | ||
| 110 | * @brief Print relevant information of the control-grav residual | ||
| 111 | * | ||
| 112 | * @param[out] os Output stream object | ||
| 113 | */ | ||
| 114 | virtual void print(std::ostream &os) const; | ||
| 115 | |||
| 116 | protected: | ||
| 117 | using Base::nu_; | ||
| 118 | using Base::state_; | ||
| 119 | using Base::v_dependent_; | ||
| 120 | |||
| 121 | private: | ||
| 122 | typename StateMultibody::PinocchioModel | ||
| 123 | pin_model_; //!< Pinocchio model used for internal computations | ||
| 124 | }; | ||
| 125 | |||
| 126 | template <typename _Scalar> | ||
| 127 | struct ResidualDataControlGravTpl : public ResidualDataAbstractTpl<_Scalar> { | ||
| 128 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 129 | |||
| 130 | typedef _Scalar Scalar; | ||
| 131 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 132 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 133 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 134 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 135 | typedef pinocchio::DataTpl<Scalar> PinocchioData; | ||
| 136 | |||
| 137 | template <template <typename Scalar> class Model> | ||
| 138 | 2845 | ResidualDataControlGravTpl(Model<Scalar> *const model, | |
| 139 | DataCollectorAbstract *const data) | ||
| 140 |
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2845 | : Base(model, data) { |
| 141 | // Check that proper shared data has been passed | ||
| 142 | 2845 | DataCollectorActMultibodyTpl<Scalar> *d = | |
| 143 |
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2845 | dynamic_cast<DataCollectorActMultibodyTpl<Scalar> *>(shared); |
| 144 |
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2845 | if (d == NULL) { |
| 145 | ✗ | throw_pretty( | |
| 146 | "Invalid argument: the shared data should be derived from " | ||
| 147 | "DataCollectorActMultibodyTpl"); | ||
| 148 | } | ||
| 149 | // Avoids data casting at runtime | ||
| 150 | StateMultibody *sm = | ||
| 151 | 2845 | static_cast<StateMultibody *>(model->get_state().get()); | |
| 152 |
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2845 | pinocchio = PinocchioData(*(sm->get_pinocchio().get())); |
| 153 | 2845 | actuation = d->actuation; | |
| 154 | 2845 | } | |
| 155 | |||
| 156 | PinocchioData pinocchio; //!< Pinocchio data | ||
| 157 | boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > | ||
| 158 | actuation; //!< Actuation data | ||
| 159 | using Base::r; | ||
| 160 | using Base::Ru; | ||
| 161 | using Base::Rx; | ||
| 162 | using Base::shared; | ||
| 163 | }; | ||
| 164 | |||
| 165 | } // namespace crocoddyl | ||
| 166 | |||
| 167 | /* --- Details -------------------------------------------------------------- */ | ||
| 168 | /* --- Details -------------------------------------------------------------- */ | ||
| 169 | /* --- Details -------------------------------------------------------------- */ | ||
| 170 | #include "crocoddyl/multibody/residuals/control-gravity.hxx" | ||
| 171 | |||
| 172 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_ | ||
| 173 |