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|---|---|---|---|
| 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 | #ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/residual-base.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 | ✗ | CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelControlGravTpl) | |
| 40 | |||
| 41 | typedef _Scalar Scalar; | ||
| 42 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 43 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 44 | typedef ResidualDataControlGravTpl<Scalar> Data; | ||
| 45 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 46 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 47 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 48 | typedef typename MathBase::VectorXs VectorXs; | ||
| 49 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 50 | |||
| 51 | /** | ||
| 52 | * @brief Initialize the control gravity residual model | ||
| 53 | * | ||
| 54 | * @param[in] state State of the multibody system | ||
| 55 | * @param[in] nu Dimension of control vector | ||
| 56 | */ | ||
| 57 | ResidualModelControlGravTpl(std::shared_ptr<StateMultibody> state, | ||
| 58 | const std::size_t nu); | ||
| 59 | |||
| 60 | /** | ||
| 61 | * @brief Initialize the control gravity residual model | ||
| 62 | * | ||
| 63 | * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. | ||
| 64 | * | ||
| 65 | * @param[in] state State of the multibody system | ||
| 66 | */ | ||
| 67 | ResidualModelControlGravTpl(std::shared_ptr<StateMultibody> state); | ||
| 68 | ✗ | virtual ~ResidualModelControlGravTpl() = default; | |
| 69 | |||
| 70 | /** | ||
| 71 | * @brief Compute the control gravity residual | ||
| 72 | * | ||
| 73 | * @param[in] data Control residual data | ||
| 74 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 75 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 76 | */ | ||
| 77 | virtual void calc(const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 78 | const Eigen::Ref<const VectorXs> &x, | ||
| 79 | const Eigen::Ref<const VectorXs> &u) override; | ||
| 80 | |||
| 81 | /** | ||
| 82 | * @brief @copydoc Base::calc(const std::shared_ptr<ResidualDataAbstract>& | ||
| 83 | * data, const Eigen::Ref<const VectorXs>& x) | ||
| 84 | */ | ||
| 85 | virtual void calc(const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 86 | const Eigen::Ref<const VectorXs> &x) override; | ||
| 87 | |||
| 88 | /** | ||
| 89 | * @brief Compute the Jacobians of the control gravity residual | ||
| 90 | * | ||
| 91 | * @param[in] data Control residual data | ||
| 92 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 93 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 94 | */ | ||
| 95 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 96 | const Eigen::Ref<const VectorXs> &x, | ||
| 97 | const Eigen::Ref<const VectorXs> &u) override; | ||
| 98 | |||
| 99 | /** | ||
| 100 | * @brief @copydoc Base::calcDiff(const | ||
| 101 | * std::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const | ||
| 102 | * VectorXs>& x) | ||
| 103 | */ | ||
| 104 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 105 | const Eigen::Ref<const VectorXs> &x) override; | ||
| 106 | |||
| 107 | virtual std::shared_ptr<ResidualDataAbstract> createData( | ||
| 108 | DataCollectorAbstract *const data) override; | ||
| 109 | |||
| 110 | /** | ||
| 111 | * @brief Cast the control-gravity residual model to a different scalar type. | ||
| 112 | * | ||
| 113 | * It is useful for operations requiring different precision or scalar types. | ||
| 114 | * | ||
| 115 | * @tparam NewScalar The new scalar type to cast to. | ||
| 116 | * @return ResidualModelControlGravTpl<NewScalar> A residual model with the | ||
| 117 | * new scalar type. | ||
| 118 | */ | ||
| 119 | template <typename NewScalar> | ||
| 120 | ResidualModelControlGravTpl<NewScalar> cast() const; | ||
| 121 | |||
| 122 | /** | ||
| 123 | * @brief Print relevant information of the control-grav residual | ||
| 124 | * | ||
| 125 | * @param[out] os Output stream object | ||
| 126 | */ | ||
| 127 | virtual void print(std::ostream &os) const override; | ||
| 128 | |||
| 129 | protected: | ||
| 130 | using Base::nu_; | ||
| 131 | using Base::state_; | ||
| 132 | using Base::v_dependent_; | ||
| 133 | |||
| 134 | private: | ||
| 135 | typename StateMultibody::PinocchioModel | ||
| 136 | pin_model_; //!< Pinocchio model used for internal computations | ||
| 137 | }; | ||
| 138 | |||
| 139 | template <typename _Scalar> | ||
| 140 | struct ResidualDataControlGravTpl : public ResidualDataAbstractTpl<_Scalar> { | ||
| 141 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 142 | |||
| 143 | typedef _Scalar Scalar; | ||
| 144 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 145 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 146 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 147 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 148 | typedef pinocchio::DataTpl<Scalar> PinocchioData; | ||
| 149 | |||
| 150 | template <template <typename Scalar> class Model> | ||
| 151 | ✗ | ResidualDataControlGravTpl(Model<Scalar> *const model, | |
| 152 | DataCollectorAbstract *const data) | ||
| 153 | ✗ | : Base(model, data) { | |
| 154 | // Check that proper shared data has been passed | ||
| 155 | ✗ | DataCollectorActMultibodyTpl<Scalar> *d = | |
| 156 | ✗ | dynamic_cast<DataCollectorActMultibodyTpl<Scalar> *>(shared); | |
| 157 | ✗ | if (d == NULL) { | |
| 158 | ✗ | throw_pretty( | |
| 159 | "Invalid argument: the shared data should be derived from " | ||
| 160 | "DataCollectorActMultibodyTpl"); | ||
| 161 | } | ||
| 162 | // Avoids data casting at runtime | ||
| 163 | StateMultibody *sm = | ||
| 164 | ✗ | static_cast<StateMultibody *>(model->get_state().get()); | |
| 165 | ✗ | pinocchio = PinocchioData(*(sm->get_pinocchio().get())); | |
| 166 | ✗ | actuation = d->actuation; | |
| 167 | ✗ | } | |
| 168 | ✗ | virtual ~ResidualDataControlGravTpl() = default; | |
| 169 | |||
| 170 | PinocchioData pinocchio; //!< Pinocchio data | ||
| 171 | std::shared_ptr<ActuationDataAbstractTpl<Scalar> > | ||
| 172 | actuation; //!< Actuation data | ||
| 173 | using Base::r; | ||
| 174 | using Base::Ru; | ||
| 175 | using Base::Rx; | ||
| 176 | using Base::shared; | ||
| 177 | }; | ||
| 178 | |||
| 179 | } // namespace crocoddyl | ||
| 180 | |||
| 181 | /* --- Details -------------------------------------------------------------- */ | ||
| 182 | /* --- Details -------------------------------------------------------------- */ | ||
| 183 | /* --- Details -------------------------------------------------------------- */ | ||
| 184 | #include "crocoddyl/multibody/residuals/control-gravity.hxx" | ||
| 185 | |||
| 186 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelControlGravTpl) | ||
| 187 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ResidualDataControlGravTpl) | ||
| 188 | |||
| 189 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_ | ||
| 190 |