| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/////////////////////////////////////////////////////////////////////////////// |
| 2 |
|
|
// BSD 3-Clause License |
| 3 |
|
|
// |
| 4 |
|
|
// Copyright (C) 2019-2025, 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_ACTUATIONS_FLOATING_BASE_HPP_ |
| 11 |
|
|
#define CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_ |
| 12 |
|
|
|
| 13 |
|
|
#include "crocoddyl/core/actuation-base.hpp" |
| 14 |
|
|
#include "crocoddyl/multibody/fwd.hpp" |
| 15 |
|
|
#include "crocoddyl/multibody/states/multibody.hpp" |
| 16 |
|
|
|
| 17 |
|
|
namespace crocoddyl { |
| 18 |
|
|
|
| 19 |
|
|
/** |
| 20 |
|
|
* @brief Floating-base actuation model |
| 21 |
|
|
* |
| 22 |
|
|
* It considers the first joint, defined in the Pinocchio model, as the |
| 23 |
|
|
* floating-base joints. Then, this joint (that might have various DoFs) is |
| 24 |
|
|
* unactuated. |
| 25 |
|
|
* |
| 26 |
|
|
* The main computations are carrying out in `calc`, and `calcDiff`, where the |
| 27 |
|
|
* former computes actuation signal \f$\mathbf{a}\f$ from a given joint-torque |
| 28 |
|
|
* input \f$\mathbf{u}\f$ and state point \f$\mathbf{x}\f$, and the latter |
| 29 |
|
|
* computes the Jacobians of the actuation-mapping function. Note that |
| 30 |
|
|
* `calcDiff` requires to run `calc` first. |
| 31 |
|
|
* |
| 32 |
|
|
* \sa `ActuationModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` |
| 33 |
|
|
*/ |
| 34 |
|
|
template <typename _Scalar> |
| 35 |
|
|
class ActuationModelFloatingBaseTpl |
| 36 |
|
|
: public ActuationModelAbstractTpl<_Scalar> { |
| 37 |
|
|
public: |
| 38 |
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
| 39 |
|
✗ |
CROCODDYL_DERIVED_CAST(ActuationModelBase, ActuationModelFloatingBaseTpl) |
| 40 |
|
|
|
| 41 |
|
|
typedef _Scalar Scalar; |
| 42 |
|
|
typedef MathBaseTpl<Scalar> MathBase; |
| 43 |
|
|
typedef ActuationModelAbstractTpl<Scalar> Base; |
| 44 |
|
|
typedef ActuationDataAbstractTpl<Scalar> Data; |
| 45 |
|
|
typedef StateMultibodyTpl<Scalar> StateMultibody; |
| 46 |
|
|
typedef typename MathBase::VectorXs VectorXs; |
| 47 |
|
|
typedef typename MathBase::MatrixXs MatrixXs; |
| 48 |
|
|
|
| 49 |
|
|
/** |
| 50 |
|
|
* @brief Initialize the floating-base actuation model |
| 51 |
|
|
* |
| 52 |
|
|
* @param[in] state State of a multibody system |
| 53 |
|
|
* @param[in] nu Dimension of joint-torque vector |
| 54 |
|
|
*/ |
| 55 |
|
✗ |
explicit ActuationModelFloatingBaseTpl(std::shared_ptr<StateMultibody> state) |
| 56 |
|
|
: Base(state, |
| 57 |
|
✗ |
state->get_nv() - |
| 58 |
|
✗ |
state->get_pinocchio() |
| 59 |
|
✗ |
->joints[( |
| 60 |
|
✗ |
state->get_pinocchio()->existJointName("root_joint") |
| 61 |
|
✗ |
? state->get_pinocchio()->getJointId("root_joint") |
| 62 |
|
|
: 0)] |
| 63 |
|
✗ |
.nv()) {}; |
| 64 |
|
✗ |
virtual ~ActuationModelFloatingBaseTpl() = default; |
| 65 |
|
|
|
| 66 |
|
|
/** |
| 67 |
|
|
* @brief Compute the floating-base actuation signal from the joint-torque |
| 68 |
|
|
* input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
| 69 |
|
|
* |
| 70 |
|
|
* @param[in] data Actuation data |
| 71 |
|
|
* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
| 72 |
|
|
* @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
| 73 |
|
|
*/ |
| 74 |
|
✗ |
virtual void calc(const std::shared_ptr<Data>& data, |
| 75 |
|
|
const Eigen::Ref<const VectorXs>& /*x*/, |
| 76 |
|
|
const Eigen::Ref<const VectorXs>& u) override { |
| 77 |
|
✗ |
if (static_cast<std::size_t>(u.size()) != nu_) { |
| 78 |
|
✗ |
throw_pretty( |
| 79 |
|
|
"Invalid argument: " << "u has wrong dimension (it should be " + |
| 80 |
|
|
std::to_string(nu_) + ")"); |
| 81 |
|
|
} |
| 82 |
|
✗ |
data->tau.tail(nu_) = u; |
| 83 |
|
✗ |
}; |
| 84 |
|
|
|
| 85 |
|
|
/** |
| 86 |
|
|
* @brief Compute the Jacobians of the floating-base actuation function |
| 87 |
|
|
* |
| 88 |
|
|
* @param[in] data Actuation data |
| 89 |
|
|
* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
| 90 |
|
|
* @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
| 91 |
|
|
*/ |
| 92 |
|
|
#ifndef NDEBUG |
| 93 |
|
✗ |
virtual void calcDiff(const std::shared_ptr<Data>& data, |
| 94 |
|
|
const Eigen::Ref<const VectorXs>& /*x*/, |
| 95 |
|
|
const Eigen::Ref<const VectorXs>& /*u*/) override { |
| 96 |
|
|
#else |
| 97 |
|
|
virtual void calcDiff(const std::shared_ptr<Data>&, |
| 98 |
|
|
const Eigen::Ref<const VectorXs>& /*x*/, |
| 99 |
|
|
const Eigen::Ref<const VectorXs>& /*u*/) override { |
| 100 |
|
|
#endif |
| 101 |
|
|
// The derivatives has constant values which were set in createData. |
| 102 |
|
✗ |
assert_pretty(data->dtau_dx.isZero(), "dtau_dx has wrong value"); |
| 103 |
|
✗ |
assert_pretty(MatrixXs(data->dtau_du).isApprox(dtau_du_), |
| 104 |
|
|
"dtau_du has wrong value"); |
| 105 |
|
✗ |
}; |
| 106 |
|
|
|
| 107 |
|
✗ |
virtual void commands(const std::shared_ptr<Data>& data, |
| 108 |
|
|
const Eigen::Ref<const VectorXs>&, |
| 109 |
|
|
const Eigen::Ref<const VectorXs>& tau) override { |
| 110 |
|
✗ |
if (static_cast<std::size_t>(tau.size()) != state_->get_nv()) { |
| 111 |
|
✗ |
throw_pretty( |
| 112 |
|
|
"Invalid argument: " << "tau has wrong dimension (it should be " + |
| 113 |
|
|
std::to_string(state_->get_nv()) + ")"); |
| 114 |
|
|
} |
| 115 |
|
✗ |
data->u = tau.tail(nu_); |
| 116 |
|
|
} |
| 117 |
|
|
|
| 118 |
|
|
#ifndef NDEBUG |
| 119 |
|
✗ |
virtual void torqueTransform(const std::shared_ptr<Data>& data, |
| 120 |
|
|
const Eigen::Ref<const VectorXs>&, |
| 121 |
|
|
const Eigen::Ref<const VectorXs>&) override { |
| 122 |
|
|
#else |
| 123 |
|
|
virtual void torqueTransform(const std::shared_ptr<Data>&, |
| 124 |
|
|
const Eigen::Ref<const VectorXs>&, |
| 125 |
|
|
const Eigen::Ref<const VectorXs>&) override { |
| 126 |
|
|
#endif |
| 127 |
|
|
// The torque transform has constant values which were set in createData. |
| 128 |
|
✗ |
assert_pretty(MatrixXs(data->Mtau).isApprox(Mtau_), "Mtau has wrong value"); |
| 129 |
|
|
} |
| 130 |
|
|
|
| 131 |
|
|
/** |
| 132 |
|
|
* @brief Create the floating-base actuation data |
| 133 |
|
|
* |
| 134 |
|
|
* @return the actuation data |
| 135 |
|
|
*/ |
| 136 |
|
✗ |
virtual std::shared_ptr<Data> createData() override { |
| 137 |
|
|
typedef StateMultibodyTpl<Scalar> StateMultibody; |
| 138 |
|
✗ |
std::shared_ptr<StateMultibody> state = |
| 139 |
|
✗ |
std::static_pointer_cast<StateMultibody>(state_); |
| 140 |
|
✗ |
std::shared_ptr<Data> data = |
| 141 |
|
✗ |
std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
| 142 |
|
✗ |
const std::size_t root_joint_id = |
| 143 |
|
✗ |
state->get_pinocchio()->existJointName("root_joint") |
| 144 |
|
✗ |
? state->get_pinocchio()->getJointId("root_joint") |
| 145 |
|
|
: 0; |
| 146 |
|
✗ |
const std::size_t nfb = state->get_pinocchio()->joints[root_joint_id].nv(); |
| 147 |
|
✗ |
data->dtau_du.diagonal(-nfb).setOnes(); |
| 148 |
|
✗ |
data->Mtau.diagonal(nfb).setOnes(); |
| 149 |
|
✗ |
for (std::size_t i = 0; i < nfb; ++i) { |
| 150 |
|
✗ |
data->tau_set[i] = false; |
| 151 |
|
|
} |
| 152 |
|
|
#ifndef NDEBUG |
| 153 |
|
✗ |
dtau_du_ = data->dtau_du; |
| 154 |
|
✗ |
Mtau_ = data->Mtau; |
| 155 |
|
|
#endif |
| 156 |
|
✗ |
return data; |
| 157 |
|
✗ |
}; |
| 158 |
|
|
|
| 159 |
|
|
template <typename NewScalar> |
| 160 |
|
✗ |
ActuationModelFloatingBaseTpl<NewScalar> cast() const { |
| 161 |
|
|
typedef ActuationModelFloatingBaseTpl<NewScalar> ReturnType; |
| 162 |
|
|
typedef StateMultibodyTpl<NewScalar> StateType; |
| 163 |
|
✗ |
ReturnType ret(std::static_pointer_cast<StateType>( |
| 164 |
|
✗ |
state_->template cast<NewScalar>())); |
| 165 |
|
✗ |
return ret; |
| 166 |
|
|
} |
| 167 |
|
|
|
| 168 |
|
|
/** |
| 169 |
|
|
* @brief Print relevant information of the joint-effort residual |
| 170 |
|
|
* |
| 171 |
|
|
* @param[out] os Output stream object |
| 172 |
|
|
*/ |
| 173 |
|
✗ |
virtual void print(std::ostream& os) const override { |
| 174 |
|
✗ |
os << "ActuationModelFloatingBase {nu=" << nu_ |
| 175 |
|
✗ |
<< ", nv=" << state_->get_nv() << "}"; |
| 176 |
|
|
} |
| 177 |
|
|
|
| 178 |
|
|
protected: |
| 179 |
|
|
using Base::nu_; |
| 180 |
|
|
using Base::state_; |
| 181 |
|
|
|
| 182 |
|
|
#ifndef NDEBUG |
| 183 |
|
|
private: |
| 184 |
|
|
MatrixXs dtau_du_; |
| 185 |
|
|
MatrixXs Mtau_; |
| 186 |
|
|
#endif |
| 187 |
|
|
}; |
| 188 |
|
|
|
| 189 |
|
|
} // namespace crocoddyl |
| 190 |
|
|
|
| 191 |
|
|
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( |
| 192 |
|
|
crocoddyl::ActuationModelFloatingBaseTpl) |
| 193 |
|
|
|
| 194 |
|
|
#endif // CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_ |
| 195 |
|
|
|