| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/frame-rotation.hpp |
| Date: | 2025-01-16 08:47:40 |
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| 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_ROTATION_HPP_ | ||
| 10 | #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_ROTATION_HPP_ | ||
| 11 | |||
| 12 | #include <pinocchio/multibody/fwd.hpp> | ||
| 13 | |||
| 14 | #include "crocoddyl/core/residual-base.hpp" | ||
| 15 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 16 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 17 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 18 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 19 | |||
| 20 | namespace crocoddyl { | ||
| 21 | |||
| 22 | /** | ||
| 23 | * @brief Frame rotation residual | ||
| 24 | * | ||
| 25 | * This residual function is defined as | ||
| 26 | * \f$\mathbf{r}=\mathbf{R}\ominus\mathbf{R}^*\f$, where | ||
| 27 | * \f$\mathbf{R},\mathbf{R}^*\in~\mathbb{SO(3)}\f$ are the current and reference | ||
| 28 | * frame rotations, respectively. Note that the dimension of the residual vector | ||
| 29 | * is 3. Furthermore, the Jacobians of the residual function are computed | ||
| 30 | * analytically. | ||
| 31 | * | ||
| 32 | * As described in `ResidualModelAbstractTpl()`, the residual value and its | ||
| 33 | * Jacobians are calculated by `calc` and `calcDiff`, respectively. | ||
| 34 | * | ||
| 35 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 36 | */ | ||
| 37 | template <typename _Scalar> | ||
| 38 | class ResidualModelFrameRotationTpl : public ResidualModelAbstractTpl<_Scalar> { | ||
| 39 | public: | ||
| 40 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 41 | |||
| 42 | typedef _Scalar Scalar; | ||
| 43 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 44 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 45 | typedef ResidualDataFrameRotationTpl<Scalar> Data; | ||
| 46 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 47 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 48 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 49 | typedef typename MathBase::VectorXs VectorXs; | ||
| 50 | typedef typename MathBase::Matrix3s Matrix3s; | ||
| 51 | |||
| 52 | /** | ||
| 53 | * @brief Initialize the frame rotation residual model | ||
| 54 | * | ||
| 55 | * @param[in] state State of the multibody system | ||
| 56 | * @param[in] id Reference frame id | ||
| 57 | * @param[in] Rref Reference frame rotation | ||
| 58 | * @param[in] nu Dimension of the control vector | ||
| 59 | */ | ||
| 60 | ResidualModelFrameRotationTpl(boost::shared_ptr<StateMultibody> state, | ||
| 61 | const pinocchio::FrameIndex id, | ||
| 62 | const Matrix3s& Rref, const std::size_t nu); | ||
| 63 | |||
| 64 | /** | ||
| 65 | * @brief Initialize the frame rotation residual model | ||
| 66 | * | ||
| 67 | * The default `nu` is equals to StateAbstractTpl::get_nv(). | ||
| 68 | * | ||
| 69 | * @param[in] state State of the multibody system | ||
| 70 | * @param[in] id Reference frame id | ||
| 71 | * @param[in] Rref Reference frame rotation | ||
| 72 | */ | ||
| 73 | ResidualModelFrameRotationTpl(boost::shared_ptr<StateMultibody> state, | ||
| 74 | const pinocchio::FrameIndex id, | ||
| 75 | const Matrix3s& Rref); | ||
| 76 | virtual ~ResidualModelFrameRotationTpl(); | ||
| 77 | |||
| 78 | /** | ||
| 79 | * @brief Compute the frame rotation residual | ||
| 80 | * | ||
| 81 | * @param[in] data Frame rotation residual data | ||
| 82 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 83 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 84 | */ | ||
| 85 | virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 86 | const Eigen::Ref<const VectorXs>& x, | ||
| 87 | const Eigen::Ref<const VectorXs>& u); | ||
| 88 | |||
| 89 | /** | ||
| 90 | * @brief Compute the derivatives of the frame rotation residual | ||
| 91 | * | ||
| 92 | * @param[in] data Frame rotation residual data | ||
| 93 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 94 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 95 | */ | ||
| 96 | virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 97 | const Eigen::Ref<const VectorXs>& x, | ||
| 98 | const Eigen::Ref<const VectorXs>& u); | ||
| 99 | |||
| 100 | /** | ||
| 101 | * @brief Create the frame rotation residual data | ||
| 102 | */ | ||
| 103 | virtual boost::shared_ptr<ResidualDataAbstract> createData( | ||
| 104 | DataCollectorAbstract* const data); | ||
| 105 | |||
| 106 | /** | ||
| 107 | * @brief Return the reference frame id | ||
| 108 | */ | ||
| 109 | pinocchio::FrameIndex get_id() const; | ||
| 110 | |||
| 111 | /** | ||
| 112 | * @brief Return the reference frame rotation | ||
| 113 | */ | ||
| 114 | const Matrix3s& get_reference() const; | ||
| 115 | |||
| 116 | /** | ||
| 117 | * @brief Modify the reference frame id | ||
| 118 | */ | ||
| 119 | void set_id(const pinocchio::FrameIndex id); | ||
| 120 | |||
| 121 | /** | ||
| 122 | * @brief Modify the reference frame rotation | ||
| 123 | */ | ||
| 124 | void set_reference(const Matrix3s& reference); | ||
| 125 | |||
| 126 | /** | ||
| 127 | * @brief Print relevant information of the frame-rotation residual | ||
| 128 | * | ||
| 129 | * @param[out] os Output stream object | ||
| 130 | */ | ||
| 131 | virtual void print(std::ostream& os) const; | ||
| 132 | |||
| 133 | protected: | ||
| 134 | using Base::nu_; | ||
| 135 | using Base::state_; | ||
| 136 | using Base::u_dependent_; | ||
| 137 | using Base::v_dependent_; | ||
| 138 | |||
| 139 | private: | ||
| 140 | pinocchio::FrameIndex id_; //!< Reference frame id | ||
| 141 | Matrix3s Rref_; //!< Reference frame rotation | ||
| 142 | Matrix3s oRf_inv_; //!< Inverse reference rotation | ||
| 143 | boost::shared_ptr<typename StateMultibody::PinocchioModel> | ||
| 144 | pin_model_; //!< Pinocchio model | ||
| 145 | }; | ||
| 146 | |||
| 147 | template <typename _Scalar> | ||
| 148 | struct ResidualDataFrameRotationTpl : public ResidualDataAbstractTpl<_Scalar> { | ||
| 149 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 150 | |||
| 151 | typedef _Scalar Scalar; | ||
| 152 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 153 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 154 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 155 | typedef typename MathBase::Vector3s Vector3s; | ||
| 156 | typedef typename MathBase::Matrix3s Matrix3s; | ||
| 157 | typedef typename MathBase::Matrix3xs Matrix3xs; | ||
| 158 | typedef typename MathBase::Matrix6xs Matrix6xs; | ||
| 159 | |||
| 160 | template <template <typename Scalar> class Model> | ||
| 161 | 9556 | ResidualDataFrameRotationTpl(Model<Scalar>* const model, | |
| 162 | DataCollectorAbstract* const data) | ||
| 163 |
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9556 | : Base(model, data), rJf(3, 3), fJf(6, model->get_state()->get_nv()) { |
| 164 |
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9556 | r.setZero(); |
| 165 |
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9556 | rRf.setIdentity(); |
| 166 |
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9556 | rJf.setZero(); |
| 167 |
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9556 | fJf.setZero(); |
| 168 | // Check that proper shared data has been passed | ||
| 169 | 9556 | DataCollectorMultibodyTpl<Scalar>* d = | |
| 170 |
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9556 | dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared); |
| 171 |
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9556 | 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 | 9556 | pinocchio = d->pinocchio; | |
| 179 | 9556 | } | |
| 180 | |||
| 181 | pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data | ||
| 182 | Matrix3s rRf; //!< Rotation error of the frame | ||
| 183 | Matrix3s 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-rotation.hxx" | ||
| 198 | |||
| 199 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_ROTATION_HPP_ | ||
| 200 |