| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/multibody/residuals/frame-translation.hxx |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 32 | 48 | 66.7% |
| Branches: | 31 | 88 | 35.2% |
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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 | #include <pinocchio/algorithm/frames.hpp> | ||
| 11 | |||
| 12 | #include "crocoddyl/multibody/residuals/frame-translation.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | |||
| 16 | template <typename Scalar> | ||
| 17 | 344 | ResidualModelFrameTranslationTpl<Scalar>::ResidualModelFrameTranslationTpl( | |
| 18 | std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 19 | const Vector3s& xref, const std::size_t nu) | ||
| 20 | : Base(state, 3, nu, true, false, false), | ||
| 21 | 344 | id_(id), | |
| 22 | 344 | xref_(xref), | |
| 23 |
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344 | pin_model_(state->get_pinocchio()) { |
| 24 |
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344 | 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 | 344 | } | |
| 31 | |||
| 32 | template <typename Scalar> | ||
| 33 | 3 | ResidualModelFrameTranslationTpl<Scalar>::ResidualModelFrameTranslationTpl( | |
| 34 | std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 35 | const Vector3s& xref) | ||
| 36 | : Base(state, 3, true, false, false), | ||
| 37 | 3 | id_(id), | |
| 38 | 3 | xref_(xref), | |
| 39 |
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3 | pin_model_(state->get_pinocchio()) { |
| 40 |
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3 | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= |
| 41 | id) { | ||
| 42 | ✗ | throw_pretty( | |
| 43 | "Invalid argument: " | ||
| 44 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 45 | } | ||
| 46 | 3 | } | |
| 47 | |||
| 48 | template <typename Scalar> | ||
| 49 | 8213 | void ResidualModelFrameTranslationTpl<Scalar>::calc( | |
| 50 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 51 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 52 | // Compute the frame translation w.r.t. the reference frame | ||
| 53 | 8213 | Data* d = static_cast<Data*>(data.get()); | |
| 54 | 8213 | pinocchio::updateFramePlacement(*pin_model_.get(), *d->pinocchio, id_); | |
| 55 |
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8213 | data->r = d->pinocchio->oMf[id_].translation() - xref_; |
| 56 | 8213 | } | |
| 57 | |||
| 58 | template <typename Scalar> | ||
| 59 | 280 | void ResidualModelFrameTranslationTpl<Scalar>::calcDiff( | |
| 60 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 61 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 62 | 280 | Data* d = static_cast<Data*>(data.get()); | |
| 63 | |||
| 64 | // Compute the derivatives of the frame translation | ||
| 65 | 280 | const std::size_t nv = state_->get_nv(); | |
| 66 | 280 | pinocchio::getFrameJacobian(*pin_model_.get(), *d->pinocchio, id_, | |
| 67 | 280 | pinocchio::LOCAL, d->fJf); | |
| 68 |
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280 | d->Rx.leftCols(nv).noalias() = |
| 69 |
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280 | d->pinocchio->oMf[id_].rotation() * d->fJf.template topRows<3>(); |
| 70 | ; | ||
| 71 | 280 | } | |
| 72 | |||
| 73 | template <typename Scalar> | ||
| 74 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 75 | 9550 | ResidualModelFrameTranslationTpl<Scalar>::createData( | |
| 76 | DataCollectorAbstract* const data) { | ||
| 77 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 78 |
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9550 | data); |
| 79 | } | ||
| 80 | |||
| 81 | template <typename Scalar> | ||
| 82 | template <typename NewScalar> | ||
| 83 | ResidualModelFrameTranslationTpl<NewScalar> | ||
| 84 | ✗ | ResidualModelFrameTranslationTpl<Scalar>::cast() const { | |
| 85 | typedef ResidualModelFrameTranslationTpl<NewScalar> ReturnType; | ||
| 86 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 87 | ✗ | ReturnType ret( | |
| 88 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 89 | ✗ | id_, xref_.template cast<NewScalar>(), nu_); | |
| 90 | ✗ | return ret; | |
| 91 | } | ||
| 92 | |||
| 93 | template <typename Scalar> | ||
| 94 | 63 | void ResidualModelFrameTranslationTpl<Scalar>::print(std::ostream& os) const { | |
| 95 |
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126 | const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", |
| 96 | "]"); | ||
| 97 | 63 | os << "ResidualModelFrameTranslation {frame=" << pin_model_->frames[id_].name | |
| 98 |
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126 | << ", tref=" << xref_.transpose().format(fmt) << "}"; |
| 99 | 63 | } | |
| 100 | |||
| 101 | template <typename Scalar> | ||
| 102 | ✗ | pinocchio::FrameIndex ResidualModelFrameTranslationTpl<Scalar>::get_id() const { | |
| 103 | ✗ | return id_; | |
| 104 | } | ||
| 105 | |||
| 106 | template <typename Scalar> | ||
| 107 | const typename MathBaseTpl<Scalar>::Vector3s& | ||
| 108 | ✗ | ResidualModelFrameTranslationTpl<Scalar>::get_reference() const { | |
| 109 | ✗ | return xref_; | |
| 110 | } | ||
| 111 | |||
| 112 | template <typename Scalar> | ||
| 113 | ✗ | void ResidualModelFrameTranslationTpl<Scalar>::set_id( | |
| 114 | const pinocchio::FrameIndex id) { | ||
| 115 | ✗ | id_ = id; | |
| 116 | } | ||
| 117 | |||
| 118 | template <typename Scalar> | ||
| 119 | ✗ | void ResidualModelFrameTranslationTpl<Scalar>::set_reference( | |
| 120 | const Vector3s& translation) { | ||
| 121 | ✗ | xref_ = translation; | |
| 122 | } | ||
| 123 | |||
| 124 | } // namespace crocoddyl | ||
| 125 |