| Directory: | ./ |
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| File: | include/crocoddyl/multibody/actuations/floating-base.hpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 40 | 42 | 95.2% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2022, 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/core/utils/exception.hpp" | ||
| 15 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 16 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | /** | ||
| 21 | * @brief Floating-base actuation model | ||
| 22 | * | ||
| 23 | * It considers the first joint, defined in the Pinocchio model, as the | ||
| 24 | * floating-base joints. Then, this joint (that might have various DoFs) is | ||
| 25 | * unactuated. | ||
| 26 | * | ||
| 27 | * The main computations are carrying out in `calc`, and `calcDiff`, where the | ||
| 28 | * former computes actuation signal \f$\mathbf{a}\f$ from a given joint-torque | ||
| 29 | * input \f$\mathbf{u}\f$ and state point \f$\mathbf{x}\f$, and the latter | ||
| 30 | * computes the Jacobians of the actuation-mapping function. Note that | ||
| 31 | * `calcDiff` requires to run `calc` first. | ||
| 32 | * | ||
| 33 | * \sa `ActuationModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 34 | */ | ||
| 35 | template <typename _Scalar> | ||
| 36 | class ActuationModelFloatingBaseTpl | ||
| 37 | : public ActuationModelAbstractTpl<_Scalar> { | ||
| 38 | public: | ||
| 39 | typedef _Scalar Scalar; | ||
| 40 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 41 | typedef ActuationModelAbstractTpl<Scalar> Base; | ||
| 42 | typedef ActuationDataAbstractTpl<Scalar> Data; | ||
| 43 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 44 | typedef typename MathBase::VectorXs VectorXs; | ||
| 45 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 46 | |||
| 47 | /** | ||
| 48 | * @brief Initialize the floating-base actuation model | ||
| 49 | * | ||
| 50 | * @param[in] state State of a multibody system | ||
| 51 | * @param[in] nu Dimension of joint-torque vector | ||
| 52 | */ | ||
| 53 | 703 | explicit ActuationModelFloatingBaseTpl( | |
| 54 | boost::shared_ptr<StateMultibody> state) | ||
| 55 | : Base(state, | ||
| 56 | 703 | state->get_nv() - | |
| 57 | 703 | state->get_pinocchio() | |
| 58 | 703 | ->joints[( | |
| 59 |
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1406 | state->get_pinocchio()->existJointName("root_joint") |
| 60 |
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1284 | ? state->get_pinocchio()->getJointId("root_joint") |
| 61 | : 0)] | ||
| 62 |
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2109 | .nv()) {}; |
| 63 | 1410 | virtual ~ActuationModelFloatingBaseTpl() {}; | |
| 64 | |||
| 65 | /** | ||
| 66 | * @brief Compute the floating-base actuation signal from the joint-torque | ||
| 67 | * input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 68 | * | ||
| 69 | * @param[in] data Actuation data | ||
| 70 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 71 | * @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 72 | */ | ||
| 73 | 54507 | virtual void calc(const boost::shared_ptr<Data>& data, | |
| 74 | const Eigen::Ref<const VectorXs>& /*x*/, | ||
| 75 | const Eigen::Ref<const VectorXs>& u) { | ||
| 76 |
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54507 | if (static_cast<std::size_t>(u.size()) != nu_) { |
| 77 | ✗ | throw_pretty( | |
| 78 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 79 | std::to_string(nu_) + ")"); | ||
| 80 | } | ||
| 81 |
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54507 | data->tau.tail(nu_) = u; |
| 82 | 54507 | }; | |
| 83 | |||
| 84 | /** | ||
| 85 | * @brief Compute the Jacobians of the floating-base actuation function | ||
| 86 | * | ||
| 87 | * @param[in] data Actuation data | ||
| 88 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 89 | * @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 90 | */ | ||
| 91 | #ifndef NDEBUG | ||
| 92 | 8676 | virtual void calcDiff(const boost::shared_ptr<Data>& data, | |
| 93 | const Eigen::Ref<const VectorXs>& /*x*/, | ||
| 94 | const Eigen::Ref<const VectorXs>& /*u*/) { | ||
| 95 | #else | ||
| 96 | virtual void calcDiff(const boost::shared_ptr<Data>&, | ||
| 97 | const Eigen::Ref<const VectorXs>& /*x*/, | ||
| 98 | const Eigen::Ref<const VectorXs>& /*u*/) { | ||
| 99 | #endif | ||
| 100 | // The derivatives has constant values which were set in createData. | ||
| 101 |
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8676 | assert_pretty(data->dtau_dx.isZero(), "dtau_dx has wrong value"); |
| 102 |
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8676 | assert_pretty(MatrixXs(data->dtau_du).isApprox(dtau_du_), |
| 103 | "dtau_du has wrong value"); | ||
| 104 | 8676 | }; | |
| 105 | |||
| 106 | 23375 | virtual void commands(const boost::shared_ptr<Data>& data, | |
| 107 | const Eigen::Ref<const VectorXs>&, | ||
| 108 | const Eigen::Ref<const VectorXs>& tau) { | ||
| 109 |
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23375 | if (static_cast<std::size_t>(tau.size()) != state_->get_nv()) { |
| 110 | ✗ | throw_pretty( | |
| 111 | "Invalid argument: " << "tau has wrong dimension (it should be " + | ||
| 112 | std::to_string(state_->get_nv()) + ")"); | ||
| 113 | } | ||
| 114 |
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23375 | data->u = tau.tail(nu_); |
| 115 | 23375 | } | |
| 116 | |||
| 117 | #ifndef NDEBUG | ||
| 118 | 3145 | virtual void torqueTransform(const boost::shared_ptr<Data>& data, | |
| 119 | const Eigen::Ref<const VectorXs>&, | ||
| 120 | const Eigen::Ref<const VectorXs>&) { | ||
| 121 | #else | ||
| 122 | virtual void torqueTransform(const boost::shared_ptr<Data>&, | ||
| 123 | const Eigen::Ref<const VectorXs>&, | ||
| 124 | const Eigen::Ref<const VectorXs>&) { | ||
| 125 | #endif | ||
| 126 | // The torque transform has constant values which were set in createData. | ||
| 127 |
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3145 | assert_pretty(MatrixXs(data->Mtau).isApprox(Mtau_), "Mtau has wrong value"); |
| 128 | 3145 | } | |
| 129 | |||
| 130 | /** | ||
| 131 | * @brief Create the floating-base actuation data | ||
| 132 | * | ||
| 133 | * @return the actuation data | ||
| 134 | */ | ||
| 135 | 55605 | virtual boost::shared_ptr<Data> createData() { | |
| 136 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 137 | 55605 | boost::shared_ptr<StateMultibody> state = | |
| 138 | 55605 | boost::static_pointer_cast<StateMultibody>(state_); | |
| 139 |
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55605 | boost::shared_ptr<Data> data = |
| 140 | 55605 | boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 141 | 55605 | const std::size_t root_joint_id = | |
| 142 |
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111210 | state->get_pinocchio()->existJointName("root_joint") |
| 143 |
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55605 | ? state->get_pinocchio()->getJointId("root_joint") |
| 144 | : 0; | ||
| 145 |
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55605 | const std::size_t nfb = state->get_pinocchio()->joints[root_joint_id].nv(); |
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55605 | data->dtau_du.diagonal(-nfb).setOnes(); |
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55605 | data->Mtau.diagonal(nfb).setOnes(); |
| 148 |
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370625 | for (std::size_t i = 0; i < nfb; ++i) { |
| 149 |
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315020 | data->tau_set[i] = false; |
| 150 | } | ||
| 151 | #ifndef NDEBUG | ||
| 152 |
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55605 | dtau_du_ = data->dtau_du; |
| 153 |
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55605 | Mtau_ = data->Mtau; |
| 154 | #endif | ||
| 155 | 111210 | return data; | |
| 156 | 55605 | }; | |
| 157 | |||
| 158 | protected: | ||
| 159 | using Base::nu_; | ||
| 160 | using Base::state_; | ||
| 161 | |||
| 162 | #ifndef NDEBUG | ||
| 163 | private: | ||
| 164 | MatrixXs dtau_du_; | ||
| 165 | MatrixXs Mtau_; | ||
| 166 | #endif | ||
| 167 | }; | ||
| 168 | |||
| 169 | } // namespace crocoddyl | ||
| 170 | |||
| 171 | #endif // CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_ | ||
| 172 |