| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/multibody/residuals/frame-placement.hpp |
| Date: | 2025-01-16 08:47:40 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 10 | 11 | 90.9% |
| Branches: | 8 | 24 | 33.3% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_ | ||
| 10 | #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_ | ||
| 11 | |||
| 12 | #include <pinocchio/multibody/fwd.hpp> | ||
| 13 | #include <pinocchio/spatial/se3.hpp> | ||
| 14 | |||
| 15 | #include "crocoddyl/core/residual-base.hpp" | ||
| 16 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 17 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 18 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 19 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 20 | |||
| 21 | namespace crocoddyl { | ||
| 22 | |||
| 23 | /** | ||
| 24 | * @brief Frame placement residual | ||
| 25 | * | ||
| 26 | * This residual function defines the frame placement tracking as | ||
| 27 | * \f$\mathbf{r}=\mathbf{p}\ominus\mathbf{p}^*\f$, where | ||
| 28 | * \f$\mathbf{p},\mathbf{p}^*\in~\mathbb{SE(3)}\f$ are the current and reference | ||
| 29 | * frame placements, respectively. Note that the dimension of the residual | ||
| 30 | * vector is 6. Furthermore, the Jacobians of the residual function are computed | ||
| 31 | * analytically. | ||
| 32 | * | ||
| 33 | * As described in `ResidualModelAbstractTpl()`, the residual value and its | ||
| 34 | * Jacobians are calculated by `calc` and `calcDiff`, respectively. | ||
| 35 | * | ||
| 36 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 37 | */ | ||
| 38 | template <typename _Scalar> | ||
| 39 | class ResidualModelFramePlacementTpl | ||
| 40 | : public ResidualModelAbstractTpl<_Scalar> { | ||
| 41 | public: | ||
| 42 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 43 | |||
| 44 | typedef _Scalar Scalar; | ||
| 45 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 46 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 47 | typedef ResidualDataFramePlacementTpl<Scalar> Data; | ||
| 48 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 49 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 50 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 51 | typedef typename MathBase::VectorXs VectorXs; | ||
| 52 | typedef pinocchio::SE3Tpl<Scalar> SE3; | ||
| 53 | |||
| 54 | /** | ||
| 55 | * @brief Initialize the frame placement residual model | ||
| 56 | * | ||
| 57 | * @param[in] state State of the multibody system | ||
| 58 | * @param[in] id Reference frame id | ||
| 59 | * @param[in] pref Reference frame placement | ||
| 60 | * @param[in] nu Dimension of the control vector | ||
| 61 | */ | ||
| 62 | ResidualModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state, | ||
| 63 | const pinocchio::FrameIndex id, | ||
| 64 | const SE3& pref, const std::size_t nu); | ||
| 65 | |||
| 66 | /** | ||
| 67 | * @brief Initialize the frame placement residual model | ||
| 68 | * | ||
| 69 | * The default `nu` is obtained from `StateAbstractTpl::get_nv()`. | ||
| 70 | * | ||
| 71 | * @param[in] state State of the multibody system | ||
| 72 | * @param[in] id Reference frame id | ||
| 73 | * @param[in] pref Reference frame placement | ||
| 74 | */ | ||
| 75 | ResidualModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state, | ||
| 76 | const pinocchio::FrameIndex id, | ||
| 77 | const SE3& pref); | ||
| 78 | virtual ~ResidualModelFramePlacementTpl(); | ||
| 79 | |||
| 80 | /** | ||
| 81 | * @brief Compute the frame placement residual | ||
| 82 | * | ||
| 83 | * @param[in] data Frame placement residual data | ||
| 84 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 85 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 86 | */ | ||
| 87 | virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 88 | const Eigen::Ref<const VectorXs>& x, | ||
| 89 | const Eigen::Ref<const VectorXs>& u); | ||
| 90 | |||
| 91 | /** | ||
| 92 | * @brief Compute the derivatives of the frame placement residual | ||
| 93 | * | ||
| 94 | * @param[in] data Frame-placement residual data | ||
| 95 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 96 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 97 | */ | ||
| 98 | virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 99 | const Eigen::Ref<const VectorXs>& x, | ||
| 100 | const Eigen::Ref<const VectorXs>& u); | ||
| 101 | |||
| 102 | /** | ||
| 103 | * @brief Create the frame placement residual data | ||
| 104 | */ | ||
| 105 | virtual boost::shared_ptr<ResidualDataAbstract> createData( | ||
| 106 | DataCollectorAbstract* const data); | ||
| 107 | |||
| 108 | /** | ||
| 109 | * @brief Return the reference frame id | ||
| 110 | */ | ||
| 111 | pinocchio::FrameIndex get_id() const; | ||
| 112 | |||
| 113 | /** | ||
| 114 | * @brief Return the reference frame placement | ||
| 115 | */ | ||
| 116 | const SE3& get_reference() const; | ||
| 117 | |||
| 118 | /** | ||
| 119 | * @brief Modify the reference frame id | ||
| 120 | */ | ||
| 121 | void set_id(const pinocchio::FrameIndex id); | ||
| 122 | |||
| 123 | /** | ||
| 124 | * @brief Modify the reference frame placement | ||
| 125 | */ | ||
| 126 | void set_reference(const SE3& reference); | ||
| 127 | |||
| 128 | /** | ||
| 129 | * @brief Print relevant information of the frame-placement residual | ||
| 130 | * | ||
| 131 | * @param[out] os Output stream object | ||
| 132 | */ | ||
| 133 | virtual void print(std::ostream& os) const; | ||
| 134 | |||
| 135 | protected: | ||
| 136 | using Base::nu_; | ||
| 137 | using Base::state_; | ||
| 138 | using Base::u_dependent_; | ||
| 139 | using Base::v_dependent_; | ||
| 140 | |||
| 141 | private: | ||
| 142 | pinocchio::FrameIndex id_; //!< Reference frame id | ||
| 143 | SE3 pref_; //!< Reference frame placement | ||
| 144 | pinocchio::SE3Tpl<Scalar> oMf_inv_; //!< Inverse reference placement | ||
| 145 | boost::shared_ptr<typename StateMultibody::PinocchioModel> | ||
| 146 | pin_model_; //!< Pinocchio model | ||
| 147 | }; | ||
| 148 | |||
| 149 | template <typename _Scalar> | ||
| 150 | struct ResidualDataFramePlacementTpl : public ResidualDataAbstractTpl<_Scalar> { | ||
| 151 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 152 | |||
| 153 | typedef _Scalar Scalar; | ||
| 154 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 155 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 156 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 157 | typedef typename MathBase::Matrix6xs Matrix6xs; | ||
| 158 | typedef typename MathBase::Matrix6s Matrix6s; | ||
| 159 | typedef typename MathBase::Vector6s Vector6s; | ||
| 160 | |||
| 161 | template <template <typename Scalar> class Model> | ||
| 162 | 46652 | ResidualDataFramePlacementTpl(Model<Scalar>* const model, | |
| 163 | DataCollectorAbstract* const data) | ||
| 164 |
3/6✓ Branch 2 taken 46652 times.
✗ Branch 3 not taken.
✓ Branch 5 taken 46652 times.
✗ Branch 6 not taken.
✓ Branch 11 taken 46652 times.
✗ Branch 12 not taken.
|
46652 | : Base(model, data), rJf(6, 6), fJf(6, model->get_state()->get_nv()) { |
| 165 |
1/2✓ Branch 1 taken 46652 times.
✗ Branch 2 not taken.
|
46652 | r.setZero(); |
| 166 |
1/2✓ Branch 1 taken 46652 times.
✗ Branch 2 not taken.
|
46652 | rJf.setZero(); |
| 167 |
1/2✓ Branch 1 taken 46652 times.
✗ Branch 2 not taken.
|
46652 | fJf.setZero(); |
| 168 | // Check that proper shared data has been passed | ||
| 169 | 46652 | DataCollectorMultibodyTpl<Scalar>* d = | |
| 170 |
1/2✓ Branch 0 taken 46652 times.
✗ Branch 1 not taken.
|
46652 | dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared); |
| 171 |
1/2✗ Branch 0 not taken.
✓ Branch 1 taken 46652 times.
|
46652 | if (d == NULL) { |
| 172 | ✗ | throw_pretty( | |
| 173 | "Invalid argument: the shared data should be derived from " | ||
| 174 | "DataCollectorMultibody"); | ||
| 175 | } | ||
| 176 | |||
| 177 | // Avoids data casting at runtime | ||
| 178 | 46652 | pinocchio = d->pinocchio; | |
| 179 | 46652 | } | |
| 180 | |||
| 181 | pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data | ||
| 182 | pinocchio::SE3Tpl<Scalar> rMf; //!< Error frame placement of the frame | ||
| 183 | Matrix6s rJf; //!< Error Jacobian of the frame | ||
| 184 | Matrix6xs fJf; //!< Local Jacobian of the frame | ||
| 185 | |||
| 186 | using Base::r; | ||
| 187 | using Base::Ru; | ||
| 188 | using Base::Rx; | ||
| 189 | using Base::shared; | ||
| 190 | }; | ||
| 191 | |||
| 192 | } // namespace crocoddyl | ||
| 193 | |||
| 194 | /* --- Details -------------------------------------------------------------- */ | ||
| 195 | /* --- Details -------------------------------------------------------------- */ | ||
| 196 | /* --- Details -------------------------------------------------------------- */ | ||
| 197 | #include "crocoddyl/multibody/residuals/frame-placement.hxx" | ||
| 198 | |||
| 199 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_ | ||
| 200 |