| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2020-2025, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | namespace crocoddyl { | ||
| 10 | |||
| 11 | template <typename Scalar> | ||
| 12 | ✗ | ResidualModelControlGravTpl<Scalar>::ResidualModelControlGravTpl( | |
| 13 | std::shared_ptr<StateMultibody> state, const std::size_t nu) | ||
| 14 | ✗ | : Base(state, state->get_nv(), nu, true, false), | |
| 15 | ✗ | pin_model_(*state->get_pinocchio()) { | |
| 16 | ✗ | if (nu_ == 0) { | |
| 17 | ✗ | throw_pretty("Invalid argument: " | |
| 18 | << "it seems to be an autonomous system, if so, don't add " | ||
| 19 | "this residual function"); | ||
| 20 | } | ||
| 21 | ✗ | } | |
| 22 | |||
| 23 | template <typename Scalar> | ||
| 24 | ✗ | ResidualModelControlGravTpl<Scalar>::ResidualModelControlGravTpl( | |
| 25 | std::shared_ptr<StateMultibody> state) | ||
| 26 | ✗ | : Base(state, state->get_nv(), state->get_nv(), true, false), | |
| 27 | ✗ | pin_model_(*state->get_pinocchio()) {} | |
| 28 | |||
| 29 | template <typename Scalar> | ||
| 30 | ✗ | void ResidualModelControlGravTpl<Scalar>::calc( | |
| 31 | const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 32 | const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &) { | ||
| 33 | ✗ | Data *d = static_cast<Data *>(data.get()); | |
| 34 | |||
| 35 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 36 | ✗ | x.head(state_->get_nq()); | |
| 37 | ✗ | data->r = d->actuation->tau - | |
| 38 | ✗ | pinocchio::computeGeneralizedGravity(pin_model_, d->pinocchio, q); | |
| 39 | ✗ | } | |
| 40 | |||
| 41 | template <typename Scalar> | ||
| 42 | ✗ | void ResidualModelControlGravTpl<Scalar>::calc( | |
| 43 | const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 44 | const Eigen::Ref<const VectorXs> &x) { | ||
| 45 | ✗ | Data *d = static_cast<Data *>(data.get()); | |
| 46 | |||
| 47 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 48 | ✗ | x.head(state_->get_nq()); | |
| 49 | ✗ | data->r = -pinocchio::computeGeneralizedGravity(pin_model_, d->pinocchio, q); | |
| 50 | ✗ | } | |
| 51 | |||
| 52 | template <typename Scalar> | ||
| 53 | ✗ | void ResidualModelControlGravTpl<Scalar>::calcDiff( | |
| 54 | const std::shared_ptr<ResidualDataAbstract> &data, | ||
| 55 | const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &) { | ||
| 56 | ✗ | Data *d = static_cast<Data *>(data.get()); | |
| 57 | |||
| 58 | // Compute the derivatives of the residual residual | ||
| 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::computeGeneralizedGravityDerivatives(pin_model_, d->pinocchio, q, | |
| 64 | Rq); | ||
| 65 | ✗ | Rq *= Scalar(-1); | |
| 66 | ✗ | data->Ru = d->actuation->dtau_du; | |
| 67 | ✗ | } | |
| 68 | |||
| 69 | template <typename Scalar> | ||
| 70 | ✗ | void ResidualModelControlGravTpl<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 | // Compute the derivatives of the residual residual | ||
| 76 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 77 | ✗ | x.head(state_->get_nq()); | |
| 78 | Eigen::Block<MatrixXs, Eigen::Dynamic, Eigen::Dynamic, true> Rq = | ||
| 79 | ✗ | data->Rx.leftCols(state_->get_nv()); | |
| 80 | ✗ | pinocchio::computeGeneralizedGravityDerivatives(pin_model_, d->pinocchio, q, | |
| 81 | Rq); | ||
| 82 | ✗ | Rq *= Scalar(-1); | |
| 83 | ✗ | } | |
| 84 | |||
| 85 | template <typename Scalar> | ||
| 86 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 87 | ✗ | ResidualModelControlGravTpl<Scalar>::createData( | |
| 88 | DataCollectorAbstract *const data) { | ||
| 89 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 90 | ✗ | data); | |
| 91 | } | ||
| 92 | |||
| 93 | template <typename Scalar> | ||
| 94 | template <typename NewScalar> | ||
| 95 | ResidualModelControlGravTpl<NewScalar> | ||
| 96 | ✗ | ResidualModelControlGravTpl<Scalar>::cast() const { | |
| 97 | typedef ResidualModelControlGravTpl<NewScalar> ReturnType; | ||
| 98 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 99 | ✗ | ReturnType ret( | |
| 100 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 101 | ✗ | nu_); | |
| 102 | ✗ | return ret; | |
| 103 | } | ||
| 104 | |||
| 105 | template <typename Scalar> | ||
| 106 | ✗ | void ResidualModelControlGravTpl<Scalar>::print(std::ostream &os) const { | |
| 107 | ✗ | os << "ResidualModelControlGrav"; | |
| 108 | ✗ | } | |
| 109 | |||
| 110 | } // namespace crocoddyl | ||
| 111 |