| 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 |
|
|
|