| 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 |
|
|
|