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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2014-2025, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_MULTIBODY_ACTUATIONS_PROPELLERS_HPP_ |
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#define CROCODDYL_MULTIBODY_ACTUATIONS_PROPELLERS_HPP_ |
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#include "crocoddyl/core/actuation-base.hpp" |
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#include "crocoddyl/multibody/states/multibody.hpp" |
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namespace crocoddyl { |
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enum ThrusterType { CW = 0, CCW }; |
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template <typename _Scalar> |
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struct ThrusterTpl { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef pinocchio::SE3Tpl<Scalar> SE3; |
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typedef ThrusterTpl<Scalar> Thruster; |
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/** |
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* @brief Initialize the thruster in a give pose from the root joint. |
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* |
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* @param pose[in] Pose from root joint |
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* @param ctorque[in] Coefficient of generated torque per thrust |
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* @param type[in] Type of thruster (clockwise or counterclockwise, |
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* default clockwise) |
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* @param[in] min_thrust[in] Minimum thrust (default 0.) |
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* @param[in] max_thrust[in] Maximum thrust (default inf number)) |
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*/ |
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ThrusterTpl(const SE3& pose, const Scalar ctorque, |
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const ThrusterType type = CW, |
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const Scalar min_thrust = Scalar(0.), |
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const Scalar max_thrust = std::numeric_limits<Scalar>::infinity()) |
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: pose(pose), |
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ctorque(ctorque), |
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type(type), |
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min_thrust(min_thrust), |
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max_thrust(max_thrust) {} |
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/** |
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* @brief Initialize the thruster in a pose in the origin of the root joint. |
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* |
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* @param pose[in] Pose from root joint |
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* @param ctorque[in] Coefficient of generated torque per thrust |
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* @param type[in] Type of thruster (clockwise or counterclockwise, |
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* default clockwise) |
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* @param[in] min_thrust[in] Minimum thrust (default 0.) |
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* @param[in] max_thrust[in] Maximum thrust (default inf number)) |
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*/ |
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ThrusterTpl(const Scalar ctorque, const ThrusterType type = CW, |
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const Scalar min_thrust = Scalar(0.), |
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const Scalar max_thrust = std::numeric_limits<Scalar>::infinity()) |
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: pose(SE3::Identity()), |
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ctorque(ctorque), |
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type(type), |
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min_thrust(min_thrust), |
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max_thrust(max_thrust) {} |
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ThrusterTpl(const ThrusterTpl<Scalar>& clone) |
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: pose(clone.pose), |
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ctorque(clone.ctorque), |
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type(clone.type), |
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min_thrust(clone.min_thrust), |
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max_thrust(clone.max_thrust) {} |
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template <typename NewScalar> |
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ThrusterTpl<NewScalar> cast() const { |
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typedef ThrusterTpl<NewScalar> ReturnType; |
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ReturnType ret( |
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pose.template cast<NewScalar>(), scalar_cast<NewScalar>(ctorque), type, |
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scalar_cast<NewScalar>(min_thrust), scalar_cast<NewScalar>(max_thrust)); |
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return ret; |
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} |
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ThrusterTpl& operator=(const ThrusterTpl<Scalar>& other) { |
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if (this != &other) { |
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pose = other.pose; |
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ctorque = other.ctorque; |
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type = other.type; |
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min_thrust = other.min_thrust; |
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max_thrust = other.max_thrust; |
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} |
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return *this; |
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} |
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template <typename OtherScalar> |
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bool operator==(const ThrusterTpl<OtherScalar>& other) const { |
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return (pose == other.pose && ctorque == other.ctorque && |
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type == other.type && min_thrust == other.min_thrust && |
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max_thrust == other.max_thrust); |
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} |
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friend std::ostream& operator<<(std::ostream& os, |
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const ThrusterTpl<Scalar>& X) { |
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os << " pose:" << std::endl |
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<< X.pose << " ctorque: " << X.ctorque << std::endl |
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<< " type: " << X.type << std::endl |
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<< "min_thrust: " << X.min_thrust << std::endl |
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<< "max_thrust: " << X.max_thrust << std::endl; |
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return os; |
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} |
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SE3 pose; //!< Thruster pose |
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Scalar ctorque; //!< Coefficient of generated torque per thrust |
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ThrusterType type; //!< Type of thruster (CW and CCW for clockwise and |
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//!< counterclockwise, respectively) |
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Scalar min_thrust; //!< Minimum thrust |
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Scalar max_thrust; //!< Minimum thrust |
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}; |
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/** |
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* @brief Actuation models for floating base systems actuated with thrusters |
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* |
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* This actuation model models floating base robots equipped with thrusters, |
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* e.g., multicopters or marine robots equipped with manipulators. It control |
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* inputs are the thrusters' thrust (i.e., forces) and joint torques. |
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* |
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* Both actuation and Jacobians are computed analytically by `calc` and |
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* `calcDiff`, respectively. |
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* |
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* We assume the robot velocity to zero for easily related square thruster |
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* velocities with thrust and torque generated. This approach is similarly |
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* implemented in M. Geisert and N. Mansard, "Trajectory generation for |
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* quadrotor based systems using numerical optimal control", (ICRA). See Section |
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* III.C. |
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* |
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* \sa `ActuationModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` |
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*/ |
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template <typename _Scalar> |
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class ActuationModelFloatingBaseThrustersTpl |
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: public ActuationModelAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ActuationModelBase, |
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ActuationModelFloatingBaseThrustersTpl) |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ActuationModelAbstractTpl<Scalar> Base; |
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typedef ActuationDataAbstractTpl<Scalar> Data; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef ThrusterTpl<Scalar> Thruster; |
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typedef typename MathBase::Vector3s Vector3s; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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/** |
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* @brief Initialize the floating base actuation model equipped with |
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* thrusters |
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* |
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* @param[in] state State of the dynamical system |
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* @param[in] thrusters Vector of thrusters |
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*/ |
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ActuationModelFloatingBaseThrustersTpl(std::shared_ptr<StateMultibody> state, |
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const std::vector<Thruster>& thrusters) |
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: Base(state, |
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state->get_nv() - |
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state->get_pinocchio() |
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->joints[( |
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state->get_pinocchio()->existJointName("root_joint") |
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? state->get_pinocchio()->getJointId("root_joint") |
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: 0)] |
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.nv() + |
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thrusters.size()), |
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thrusters_(thrusters), |
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n_thrusters_(thrusters.size()), |
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W_thrust_(state_->get_nv(), nu_), |
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update_data_(true) { |
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if (!state->get_pinocchio()->existJointName("root_joint")) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "the first joint has to be a root one (e.g., free-flyer joint)"); |
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} |
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// Update the joint actuation part |
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W_thrust_.setZero(); |
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if (nu_ > n_thrusters_) { |
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W_thrust_.bottomRightCorner(nu_ - n_thrusters_, nu_ - n_thrusters_) |
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.diagonal() |
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.setOnes(); |
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} |
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// Update the floating base actuation part |
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set_thrusters(thrusters_); |
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} |
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virtual ~ActuationModelFloatingBaseThrustersTpl() = default; |
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/** |
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* @brief Compute the actuation signal and actuation set from its thrust |
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* and joint torque inputs \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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* |
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* @param[in] data Floating base thrusters actuation data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calc(const std::shared_ptr<Data>& data, |
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const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>& u) override { |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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if (update_data_) { |
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updateData(data); |
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} |
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data->tau.noalias() = data->dtau_du * u; |
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} |
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/** |
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* @brief Compute the Jacobians of the floating base thruster actuation |
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* function |
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* |
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* @param[in] data Floating base thrusters actuation data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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#ifndef NDEBUG |
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virtual void calcDiff(const std::shared_ptr<Data>& data, |
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const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&) override { |
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#else |
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virtual void calcDiff(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&) override { |
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#endif |
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// The derivatives has constant values which were set in createData. |
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assert_pretty(MatrixXs(data->dtau_du).isApprox(W_thrust_), |
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"dtau_du has wrong value"); |
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} |
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virtual void commands(const std::shared_ptr<Data>& data, |
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const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>& tau) override { |
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data->u.noalias() = data->Mtau * tau; |
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} |
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#ifndef NDEBUG |
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virtual void torqueTransform(const std::shared_ptr<Data>& data, |
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const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&) override { |
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#else |
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virtual void torqueTransform(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&) override { |
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#endif |
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// The torque transform has constant values which were set in createData. |
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assert_pretty(MatrixXs(data->Mtau).isApprox(Mtau_), "Mtau has wrong value"); |
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} |
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/** |
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* @brief Create the floating base thruster actuation data |
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* |
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* @return the actuation data |
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*/ |
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virtual std::shared_ptr<Data> createData() override { |
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std::shared_ptr<Data> data = |
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std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
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updateData(data); |
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return data; |
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} |
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template <typename NewScalar> |
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ActuationModelFloatingBaseThrustersTpl<NewScalar> cast() const { |
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typedef ActuationModelFloatingBaseThrustersTpl<NewScalar> ReturnType; |
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typedef StateMultibodyTpl<NewScalar> StateType; |
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typedef ThrusterTpl<NewScalar> ThrusterType; |
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std::vector<ThrusterType> thrusters = vector_cast<NewScalar>(thrusters_); |
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ReturnType ret( |
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std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), |
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thrusters); |
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return ret; |
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} |
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/** |
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* @brief Return the vector of thrusters |
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*/ |
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const std::vector<Thruster>& get_thrusters() const { return thrusters_; } |
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/** |
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* @brief Return the number of thrusters |
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*/ |
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std::size_t get_nthrusters() const { return n_thrusters_; } |
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/** |
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* @brief Modify the vector of thrusters |
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* |
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* Since we don't want to allocate data, we request to pass the same |
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* number of thrusters. |
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* |
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* @param[in] thrusters Vector of thrusters |
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*/ |
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void set_thrusters(const std::vector<Thruster>& thrusters) { |
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if (static_cast<std::size_t>(thrusters.size()) != n_thrusters_) { |
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throw_pretty("Invalid argument: " |
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<< "the number of thrusters is wrong (it should be " + |
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std::to_string(n_thrusters_) + ")"); |
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} |
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thrusters_ = thrusters; |
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// Update the mapping matrix from thrusters thrust to body force/moments |
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for (std::size_t i = 0; i < n_thrusters_; ++i) { |
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const Thruster& p = thrusters_[i]; |
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const Vector3s& f_z = p.pose.rotation() * Vector3s::UnitZ(); |
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W_thrust_.template topRows<3>().col(i) += f_z; |
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W_thrust_.template middleRows<3>(3).col(i).noalias() += |
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p.pose.translation().cross(f_z); |
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switch (p.type) { |
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case CW: |
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W_thrust_.template middleRows<3>(3).col(i) += p.ctorque * f_z; |
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break; |
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case CCW: |
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W_thrust_.template middleRows<3>(3).col(i) -= p.ctorque * f_z; |
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break; |
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} |
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} |
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// Compute the torque transform matrix from generalized torques to joint |
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// torque inputs |
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Mtau_ = pseudoInverse(W_thrust_); |
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S_.noalias() = W_thrust_ * Mtau_; |
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update_data_ = true; |
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} |
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const MatrixXs& get_Wthrust() const { return W_thrust_; } |
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const MatrixXs& get_S() const { return S_; } |
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void print(std::ostream& os) const override { |
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os << "ActuationModelFloatingBaseThrusters {nu=" << nu_ |
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✗ |
<< ", nthrusters=" << n_thrusters_ << ", thrusters=" << std::endl; |
| 334 |
|
✗ |
for (std::size_t i = 0; i < n_thrusters_; ++i) { |
| 335 |
|
✗ |
os << std::to_string(i) << ": " << thrusters_[i]; |
| 336 |
|
|
} |
| 337 |
|
✗ |
os << "}"; |
| 338 |
|
|
} |
| 339 |
|
|
|
| 340 |
|
|
protected: |
| 341 |
|
|
std::vector<Thruster> thrusters_; //!< Vector of thrusters |
| 342 |
|
|
std::size_t n_thrusters_; //!< Number of thrusters |
| 343 |
|
|
MatrixXs W_thrust_; //!< Matrix from thrusters thrusts to body wrench |
| 344 |
|
|
MatrixXs Mtau_; //!< Constaint torque transform from generalized torques to |
| 345 |
|
|
//!< joint torque inputs |
| 346 |
|
|
MatrixXs S_; //!< Selection matrix for under-actuation part |
| 347 |
|
|
|
| 348 |
|
|
bool update_data_; |
| 349 |
|
|
using Base::nu_; |
| 350 |
|
|
using Base::state_; |
| 351 |
|
|
|
| 352 |
|
|
private: |
| 353 |
|
✗ |
void updateData(const std::shared_ptr<Data>& data) { |
| 354 |
|
✗ |
data->dtau_du = W_thrust_; |
| 355 |
|
✗ |
data->Mtau = Mtau_; |
| 356 |
|
✗ |
const std::size_t nv = state_->get_nv(); |
| 357 |
|
✗ |
for (std::size_t k = 0; k < nv; ++k) { |
| 358 |
|
✗ |
data->tau_set[k] = if_static(S_(k, k)); |
| 359 |
|
|
} |
| 360 |
|
✗ |
update_data_ = false; |
| 361 |
|
|
} |
| 362 |
|
|
|
| 363 |
|
|
// Use for floating-point types |
| 364 |
|
|
template <typename Scalar> |
| 365 |
|
|
typename std::enable_if<std::is_floating_point<Scalar>::value, bool>::type |
| 366 |
|
✗ |
if_static(const Scalar& condition) { |
| 367 |
|
✗ |
return (fabs(condition) < std::numeric_limits<Scalar>::epsilon()) ? false |
| 368 |
|
✗ |
: true; |
| 369 |
|
|
} |
| 370 |
|
|
|
| 371 |
|
|
#ifdef CROCODDYL_WITH_CODEGEN |
| 372 |
|
|
// Use for CppAD types |
| 373 |
|
|
template <typename Scalar> |
| 374 |
|
|
typename std::enable_if<!std::is_floating_point<Scalar>::value, bool>::type |
| 375 |
|
|
if_static(const Scalar& condition) { |
| 376 |
|
|
return CppAD::Value(CppAD::fabs(condition)) >= |
| 377 |
|
|
CppAD::numeric_limits<Scalar>::epsilon(); |
| 378 |
|
|
} |
| 379 |
|
|
#endif |
| 380 |
|
|
}; |
| 381 |
|
|
|
| 382 |
|
|
} // namespace crocoddyl |
| 383 |
|
|
|
| 384 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ThrusterTpl) |
| 385 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( |
| 386 |
|
|
crocoddyl::ActuationModelFloatingBaseThrustersTpl) |
| 387 |
|
|
|
| 388 |
|
|
#endif // CROCODDYL_MULTIBODY_ACTUATIONS_PROPELLERS_HPP_ |
| 389 |
|
|
|