| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/frame-placement.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 12 | 14 | 85.7% |
| Branches: | 10 | 30 | 33.3% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, 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_RESIDUALS_FRAME_PLACEMENT_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_ | ||
| 12 | |||
| 13 | #include <pinocchio/multibody/fwd.hpp> | ||
| 14 | #include <pinocchio/spatial/se3.hpp> | ||
| 15 | |||
| 16 | #include "crocoddyl/core/residual-base.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 | ✗ | CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelFramePlacementTpl) | |
| 44 | |||
| 45 | typedef _Scalar Scalar; | ||
| 46 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 47 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 48 | typedef ResidualDataFramePlacementTpl<Scalar> Data; | ||
| 49 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 50 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 51 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 52 | typedef typename MathBase::VectorXs VectorXs; | ||
| 53 | typedef pinocchio::SE3Tpl<Scalar> SE3; | ||
| 54 | |||
| 55 | /** | ||
| 56 | * @brief Initialize the frame placement residual model | ||
| 57 | * | ||
| 58 | * @param[in] state State of the multibody system | ||
| 59 | * @param[in] id Reference frame id | ||
| 60 | * @param[in] pref Reference frame placement | ||
| 61 | * @param[in] nu Dimension of the control vector | ||
| 62 | */ | ||
| 63 | ResidualModelFramePlacementTpl(std::shared_ptr<StateMultibody> state, | ||
| 64 | const pinocchio::FrameIndex id, | ||
| 65 | const SE3& pref, const std::size_t nu); | ||
| 66 | |||
| 67 | /** | ||
| 68 | * @brief Initialize the frame placement residual model | ||
| 69 | * | ||
| 70 | * The default `nu` is obtained from `StateAbstractTpl::get_nv()`. | ||
| 71 | * | ||
| 72 | * @param[in] state State of the multibody system | ||
| 73 | * @param[in] id Reference frame id | ||
| 74 | * @param[in] pref Reference frame placement | ||
| 75 | */ | ||
| 76 | ResidualModelFramePlacementTpl(std::shared_ptr<StateMultibody> state, | ||
| 77 | const pinocchio::FrameIndex id, | ||
| 78 | const SE3& pref); | ||
| 79 | 1806 | virtual ~ResidualModelFramePlacementTpl() = default; | |
| 80 | |||
| 81 | /** | ||
| 82 | * @brief Compute the frame placement residual | ||
| 83 | * | ||
| 84 | * @param[in] data Frame placement residual data | ||
| 85 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 86 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 87 | */ | ||
| 88 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 89 | const Eigen::Ref<const VectorXs>& x, | ||
| 90 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 91 | |||
| 92 | /** | ||
| 93 | * @brief Compute the derivatives of the frame placement residual | ||
| 94 | * | ||
| 95 | * @param[in] data Frame-placement residual data | ||
| 96 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 97 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 98 | */ | ||
| 99 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 100 | const Eigen::Ref<const VectorXs>& x, | ||
| 101 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 102 | |||
| 103 | /** | ||
| 104 | * @brief Create the frame placement residual data | ||
| 105 | */ | ||
| 106 | virtual std::shared_ptr<ResidualDataAbstract> createData( | ||
| 107 | DataCollectorAbstract* const data) override; | ||
| 108 | |||
| 109 | /** | ||
| 110 | * @brief Cast the frame-placement residual model to a different scalar type. | ||
| 111 | * | ||
| 112 | * It is useful for operations requiring different precision or scalar types. | ||
| 113 | * | ||
| 114 | * @tparam NewScalar The new scalar type to cast to. | ||
| 115 | * @return ResidualModelFramePlacementTpl<NewScalar> A residual model with the | ||
| 116 | * new scalar type. | ||
| 117 | */ | ||
| 118 | template <typename NewScalar> | ||
| 119 | ResidualModelFramePlacementTpl<NewScalar> cast() const; | ||
| 120 | |||
| 121 | /** | ||
| 122 | * @brief Return the reference frame id | ||
| 123 | */ | ||
| 124 | pinocchio::FrameIndex get_id() const; | ||
| 125 | |||
| 126 | /** | ||
| 127 | * @brief Return the reference frame placement | ||
| 128 | */ | ||
| 129 | const SE3& get_reference() const; | ||
| 130 | |||
| 131 | /** | ||
| 132 | * @brief Modify the reference frame id | ||
| 133 | */ | ||
| 134 | void set_id(const pinocchio::FrameIndex id); | ||
| 135 | |||
| 136 | /** | ||
| 137 | * @brief Modify the reference frame placement | ||
| 138 | */ | ||
| 139 | void set_reference(const SE3& reference); | ||
| 140 | |||
| 141 | /** | ||
| 142 | * @brief Print relevant information of the frame-placement residual | ||
| 143 | * | ||
| 144 | * @param[out] os Output stream object | ||
| 145 | */ | ||
| 146 | virtual void print(std::ostream& os) const override; | ||
| 147 | |||
| 148 | protected: | ||
| 149 | using Base::nu_; | ||
| 150 | using Base::state_; | ||
| 151 | using Base::u_dependent_; | ||
| 152 | using Base::v_dependent_; | ||
| 153 | |||
| 154 | private: | ||
| 155 | pinocchio::FrameIndex id_; //!< Reference frame id | ||
| 156 | SE3 pref_; //!< Reference frame placement | ||
| 157 | pinocchio::SE3Tpl<Scalar> oMf_inv_; //!< Inverse reference placement | ||
| 158 | std::shared_ptr<typename StateMultibody::PinocchioModel> | ||
| 159 | pin_model_; //!< Pinocchio model | ||
| 160 | }; | ||
| 161 | |||
| 162 | template <typename _Scalar> | ||
| 163 | struct ResidualDataFramePlacementTpl : public ResidualDataAbstractTpl<_Scalar> { | ||
| 164 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 165 | |||
| 166 | typedef _Scalar Scalar; | ||
| 167 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 168 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 169 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 170 | typedef typename MathBase::Matrix6xs Matrix6xs; | ||
| 171 | typedef typename MathBase::Matrix6s Matrix6s; | ||
| 172 | typedef typename MathBase::Vector6s Vector6s; | ||
| 173 | |||
| 174 | template <template <typename Scalar> class Model> | ||
| 175 | 46835 | ResidualDataFramePlacementTpl(Model<Scalar>* const model, | |
| 176 | DataCollectorAbstract* const data) | ||
| 177 |
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46835 | : Base(model, data), rJf(6, 6), fJf(6, model->get_state()->get_nv()) { |
| 178 |
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46835 | r.setZero(); |
| 179 |
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46835 | rJf.setZero(); |
| 180 |
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46835 | fJf.setZero(); |
| 181 | // Check that proper shared data has been passed | ||
| 182 | 46835 | DataCollectorMultibodyTpl<Scalar>* d = | |
| 183 |
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46835 | dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared); |
| 184 |
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46835 | if (d == NULL) { |
| 185 | ✗ | throw_pretty( | |
| 186 | "Invalid argument: the shared data should be derived from " | ||
| 187 | "DataCollectorMultibody"); | ||
| 188 | } | ||
| 189 | |||
| 190 | // Avoids data casting at runtime | ||
| 191 | 46835 | pinocchio = d->pinocchio; | |
| 192 | 46835 | } | |
| 193 | 92069 | virtual ~ResidualDataFramePlacementTpl() = default; | |
| 194 | |||
| 195 | pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data | ||
| 196 | pinocchio::SE3Tpl<Scalar> rMf; //!< Error frame placement of the frame | ||
| 197 | Matrix6s rJf; //!< Error Jacobian of the frame | ||
| 198 | Matrix6xs fJf; //!< Local Jacobian of the frame | ||
| 199 | |||
| 200 | using Base::r; | ||
| 201 | using Base::Ru; | ||
| 202 | using Base::Rx; | ||
| 203 | using Base::shared; | ||
| 204 | }; | ||
| 205 | |||
| 206 | } // namespace crocoddyl | ||
| 207 | |||
| 208 | /* --- Details -------------------------------------------------------------- */ | ||
| 209 | /* --- Details -------------------------------------------------------------- */ | ||
| 210 | /* --- Details -------------------------------------------------------------- */ | ||
| 211 | #include "crocoddyl/multibody/residuals/frame-placement.hxx" | ||
| 212 | |||
| 213 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( | ||
| 214 | crocoddyl::ResidualModelFramePlacementTpl) | ||
| 215 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 216 | crocoddyl::ResidualDataFramePlacementTpl) | ||
| 217 | |||
| 218 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_ | ||
| 219 |