| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/multibody/residuals/frame-rotation.hxx |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2022, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include <pinocchio/algorithm/frames.hpp> | ||
| 10 | |||
| 11 | #include "crocoddyl/multibody/residuals/frame-rotation.hpp" | ||
| 12 | |||
| 13 | namespace crocoddyl { | ||
| 14 | |||
| 15 | template <typename Scalar> | ||
| 16 | 351 | ResidualModelFrameRotationTpl<Scalar>::ResidualModelFrameRotationTpl( | |
| 17 | boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 18 | const Matrix3s& Rref, const std::size_t nu) | ||
| 19 | : Base(state, 3, nu, true, false, false), | ||
| 20 | 351 | id_(id), | |
| 21 | 351 | Rref_(Rref), | |
| 22 |
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351 | oRf_inv_(Rref.transpose()), |
| 23 |
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702 | pin_model_(state->get_pinocchio()) { |
| 24 |
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351 | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= |
| 25 | id) { | ||
| 26 | ✗ | throw_pretty( | |
| 27 | "Invalid argument: " | ||
| 28 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 29 | } | ||
| 30 | 351 | } | |
| 31 | |||
| 32 | template <typename Scalar> | ||
| 33 | 3 | ResidualModelFrameRotationTpl<Scalar>::ResidualModelFrameRotationTpl( | |
| 34 | boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 35 | const Matrix3s& Rref) | ||
| 36 | : Base(state, 3, true, false, false), | ||
| 37 | 3 | id_(id), | |
| 38 | 3 | Rref_(Rref), | |
| 39 |
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3 | oRf_inv_(Rref.transpose()), |
| 40 |
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6 | pin_model_(state->get_pinocchio()) { |
| 41 |
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3 | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= |
| 42 | id) { | ||
| 43 | ✗ | throw_pretty( | |
| 44 | "Invalid argument: " | ||
| 45 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 46 | } | ||
| 47 | 3 | } | |
| 48 | |||
| 49 | template <typename Scalar> | ||
| 50 | 712 | ResidualModelFrameRotationTpl<Scalar>::~ResidualModelFrameRotationTpl() {} | |
| 51 | |||
| 52 | template <typename Scalar> | ||
| 53 | 8229 | void ResidualModelFrameRotationTpl<Scalar>::calc( | |
| 54 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 55 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 56 | 8229 | Data* d = static_cast<Data*>(data.get()); | |
| 57 | |||
| 58 | // Compute the frame rotation w.r.t. the reference frame | ||
| 59 | 8229 | pinocchio::updateFramePlacement(*pin_model_.get(), *d->pinocchio, id_); | |
| 60 |
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8229 | d->rRf.noalias() = oRf_inv_ * d->pinocchio->oMf[id_].rotation(); |
| 61 |
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8229 | data->r = pinocchio::log3(d->rRf); |
| 62 | 8229 | } | |
| 63 | |||
| 64 | template <typename Scalar> | ||
| 65 | 292 | void ResidualModelFrameRotationTpl<Scalar>::calcDiff( | |
| 66 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 67 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 68 | 292 | Data* d = static_cast<Data*>(data.get()); | |
| 69 | |||
| 70 | // Compute the frame Jacobian at the error point | ||
| 71 | 292 | pinocchio::Jlog3(d->rRf, d->rJf); | |
| 72 | 292 | pinocchio::getFrameJacobian(*pin_model_.get(), *d->pinocchio, id_, | |
| 73 | 292 | pinocchio::LOCAL, d->fJf); | |
| 74 | |||
| 75 | // Compute the derivatives of the frame rotation | ||
| 76 | 292 | const std::size_t nv = state_->get_nv(); | |
| 77 |
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292 | data->Rx.leftCols(nv).noalias() = d->rJf * d->fJf.template bottomRows<3>(); |
| 78 | 292 | } | |
| 79 | |||
| 80 | template <typename Scalar> | ||
| 81 | boost::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 82 | 9556 | ResidualModelFrameRotationTpl<Scalar>::createData( | |
| 83 | DataCollectorAbstract* const data) { | ||
| 84 | ✗ | return boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 85 |
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9556 | data); |
| 86 | } | ||
| 87 | |||
| 88 | template <typename Scalar> | ||
| 89 | 63 | void ResidualModelFrameRotationTpl<Scalar>::print(std::ostream& os) const { | |
| 90 |
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126 | const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", |
| 91 | "]"); | ||
| 92 |
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63 | typename pinocchio::SE3Tpl<Scalar>::Quaternion qref; |
| 93 |
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63 | pinocchio::quaternion::assignQuaternion(qref, Rref_); |
| 94 | 63 | os << "ResidualModelFrameRotation {frame=" << pin_model_->frames[id_].name | |
| 95 |
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126 | << ", qref=" << qref.coeffs().transpose().format(fmt) << "}"; |
| 96 | 63 | } | |
| 97 | |||
| 98 | template <typename Scalar> | ||
| 99 | ✗ | pinocchio::FrameIndex ResidualModelFrameRotationTpl<Scalar>::get_id() const { | |
| 100 | ✗ | return id_; | |
| 101 | } | ||
| 102 | |||
| 103 | template <typename Scalar> | ||
| 104 | const typename MathBaseTpl<Scalar>::Matrix3s& | ||
| 105 | ✗ | ResidualModelFrameRotationTpl<Scalar>::get_reference() const { | |
| 106 | ✗ | return Rref_; | |
| 107 | } | ||
| 108 | |||
| 109 | template <typename Scalar> | ||
| 110 | ✗ | void ResidualModelFrameRotationTpl<Scalar>::set_id( | |
| 111 | const pinocchio::FrameIndex id) { | ||
| 112 | ✗ | id_ = id; | |
| 113 | } | ||
| 114 | |||
| 115 | template <typename Scalar> | ||
| 116 | ✗ | void ResidualModelFrameRotationTpl<Scalar>::set_reference( | |
| 117 | const Matrix3s& rotation) { | ||
| 118 | ✗ | Rref_ = rotation; | |
| 119 | ✗ | oRf_inv_ = rotation.transpose(); | |
| 120 | } | ||
| 121 | |||
| 122 | } // namespace crocoddyl | ||
| 123 |