| Line | Branch | Exec | Source |
|---|---|---|---|
| 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 | namespace crocoddyl { | ||
| 11 | |||
| 12 | template <typename Scalar> | ||
| 13 | ✗ | ResidualModelFrameRotationTpl<Scalar>::ResidualModelFrameRotationTpl( | |
| 14 | std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 15 | const Matrix3s& Rref, const std::size_t nu) | ||
| 16 | : Base(state, 3, nu, true, false, false), | ||
| 17 | ✗ | id_(id), | |
| 18 | ✗ | Rref_(Rref), | |
| 19 | ✗ | oRf_inv_(Rref.transpose()), | |
| 20 | ✗ | pin_model_(state->get_pinocchio()) { | |
| 21 | ✗ | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= | |
| 22 | id) { | ||
| 23 | ✗ | throw_pretty( | |
| 24 | "Invalid argument: " | ||
| 25 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 26 | } | ||
| 27 | ✗ | } | |
| 28 | |||
| 29 | template <typename Scalar> | ||
| 30 | ✗ | ResidualModelFrameRotationTpl<Scalar>::ResidualModelFrameRotationTpl( | |
| 31 | std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 32 | const Matrix3s& Rref) | ||
| 33 | : Base(state, 3, true, false, false), | ||
| 34 | ✗ | id_(id), | |
| 35 | ✗ | Rref_(Rref), | |
| 36 | ✗ | oRf_inv_(Rref.transpose()), | |
| 37 | ✗ | pin_model_(state->get_pinocchio()) { | |
| 38 | ✗ | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= | |
| 39 | id) { | ||
| 40 | ✗ | throw_pretty( | |
| 41 | "Invalid argument: " | ||
| 42 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 43 | } | ||
| 44 | ✗ | } | |
| 45 | |||
| 46 | template <typename Scalar> | ||
| 47 | ✗ | void ResidualModelFrameRotationTpl<Scalar>::calc( | |
| 48 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 49 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 50 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 51 | |||
| 52 | // Compute the frame rotation w.r.t. the reference frame | ||
| 53 | ✗ | pinocchio::updateFramePlacement(*pin_model_.get(), *d->pinocchio, id_); | |
| 54 | ✗ | d->rRf.noalias() = oRf_inv_ * d->pinocchio->oMf[id_].rotation(); | |
| 55 | ✗ | data->r = pinocchio::log3(d->rRf); | |
| 56 | ✗ | } | |
| 57 | |||
| 58 | template <typename Scalar> | ||
| 59 | ✗ | void ResidualModelFrameRotationTpl<Scalar>::calcDiff( | |
| 60 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 61 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 62 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 63 | |||
| 64 | // Compute the frame Jacobian at the error point | ||
| 65 | ✗ | pinocchio::Jlog3(d->rRf, d->rJf); | |
| 66 | ✗ | pinocchio::getFrameJacobian(*pin_model_.get(), *d->pinocchio, id_, | |
| 67 | ✗ | pinocchio::LOCAL, d->fJf); | |
| 68 | |||
| 69 | // Compute the derivatives of the frame rotation | ||
| 70 | ✗ | const std::size_t nv = state_->get_nv(); | |
| 71 | ✗ | data->Rx.leftCols(nv).noalias() = d->rJf * d->fJf.template bottomRows<3>(); | |
| 72 | ✗ | } | |
| 73 | |||
| 74 | template <typename Scalar> | ||
| 75 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 76 | ✗ | ResidualModelFrameRotationTpl<Scalar>::createData( | |
| 77 | DataCollectorAbstract* const data) { | ||
| 78 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 79 | ✗ | data); | |
| 80 | } | ||
| 81 | |||
| 82 | template <typename Scalar> | ||
| 83 | template <typename NewScalar> | ||
| 84 | ResidualModelFrameRotationTpl<NewScalar> | ||
| 85 | ✗ | ResidualModelFrameRotationTpl<Scalar>::cast() const { | |
| 86 | typedef ResidualModelFrameRotationTpl<NewScalar> ReturnType; | ||
| 87 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 88 | ✗ | ReturnType ret( | |
| 89 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 90 | ✗ | id_, Rref_.template cast<NewScalar>(), nu_); | |
| 91 | ✗ | return ret; | |
| 92 | } | ||
| 93 | |||
| 94 | template <typename Scalar> | ||
| 95 | ✗ | void ResidualModelFrameRotationTpl<Scalar>::print(std::ostream& os) const { | |
| 96 | ✗ | const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", | |
| 97 | "]"); | ||
| 98 | ✗ | typename pinocchio::SE3Tpl<Scalar>::Quaternion qref; | |
| 99 | ✗ | pinocchio::quaternion::assignQuaternion(qref, Rref_); | |
| 100 | ✗ | os << "ResidualModelFrameRotation {frame=" << pin_model_->frames[id_].name | |
| 101 | ✗ | << ", qref=" << qref.coeffs().transpose().format(fmt) << "}"; | |
| 102 | ✗ | } | |
| 103 | |||
| 104 | template <typename Scalar> | ||
| 105 | ✗ | pinocchio::FrameIndex ResidualModelFrameRotationTpl<Scalar>::get_id() const { | |
| 106 | ✗ | return id_; | |
| 107 | } | ||
| 108 | |||
| 109 | template <typename Scalar> | ||
| 110 | const typename MathBaseTpl<Scalar>::Matrix3s& | ||
| 111 | ✗ | ResidualModelFrameRotationTpl<Scalar>::get_reference() const { | |
| 112 | ✗ | return Rref_; | |
| 113 | } | ||
| 114 | |||
| 115 | template <typename Scalar> | ||
| 116 | ✗ | void ResidualModelFrameRotationTpl<Scalar>::set_id( | |
| 117 | const pinocchio::FrameIndex id) { | ||
| 118 | ✗ | id_ = id; | |
| 119 | ✗ | } | |
| 120 | |||
| 121 | template <typename Scalar> | ||
| 122 | ✗ | void ResidualModelFrameRotationTpl<Scalar>::set_reference( | |
| 123 | const Matrix3s& rotation) { | ||
| 124 | ✗ | Rref_ = rotation; | |
| 125 | ✗ | oRf_inv_ = rotation.transpose(); | |
| 126 | ✗ | } | |
| 127 | |||
| 128 | } // namespace crocoddyl | ||
| 129 |