| 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 | ✗ | ResidualModelFrameTranslationTpl<Scalar>::ResidualModelFrameTranslationTpl( | |
| 14 | std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 15 | const Vector3s& xref, const std::size_t nu) | ||
| 16 | : Base(state, 3, nu, true, false, false), | ||
| 17 | ✗ | id_(id), | |
| 18 | ✗ | xref_(xref), | |
| 19 | ✗ | pin_model_(state->get_pinocchio()) { | |
| 20 | ✗ | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= | |
| 21 | id) { | ||
| 22 | ✗ | throw_pretty( | |
| 23 | "Invalid argument: " | ||
| 24 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 25 | } | ||
| 26 | ✗ | } | |
| 27 | |||
| 28 | template <typename Scalar> | ||
| 29 | ✗ | ResidualModelFrameTranslationTpl<Scalar>::ResidualModelFrameTranslationTpl( | |
| 30 | std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 31 | const Vector3s& xref) | ||
| 32 | : Base(state, 3, true, false, false), | ||
| 33 | ✗ | id_(id), | |
| 34 | ✗ | xref_(xref), | |
| 35 | ✗ | pin_model_(state->get_pinocchio()) { | |
| 36 | ✗ | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= | |
| 37 | id) { | ||
| 38 | ✗ | throw_pretty( | |
| 39 | "Invalid argument: " | ||
| 40 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 41 | } | ||
| 42 | ✗ | } | |
| 43 | |||
| 44 | template <typename Scalar> | ||
| 45 | ✗ | void ResidualModelFrameTranslationTpl<Scalar>::calc( | |
| 46 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 47 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 48 | // Compute the frame translation w.r.t. the reference frame | ||
| 49 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 50 | ✗ | pinocchio::updateFramePlacement(*pin_model_.get(), *d->pinocchio, id_); | |
| 51 | ✗ | data->r = d->pinocchio->oMf[id_].translation() - xref_; | |
| 52 | ✗ | } | |
| 53 | |||
| 54 | template <typename Scalar> | ||
| 55 | ✗ | void ResidualModelFrameTranslationTpl<Scalar>::calcDiff( | |
| 56 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 57 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 58 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 59 | |||
| 60 | // Compute the derivatives of the frame translation | ||
| 61 | ✗ | const std::size_t nv = state_->get_nv(); | |
| 62 | ✗ | pinocchio::getFrameJacobian(*pin_model_.get(), *d->pinocchio, id_, | |
| 63 | ✗ | pinocchio::LOCAL, d->fJf); | |
| 64 | ✗ | d->Rx.leftCols(nv).noalias() = | |
| 65 | ✗ | d->pinocchio->oMf[id_].rotation() * d->fJf.template topRows<3>(); | |
| 66 | ; | ||
| 67 | ✗ | } | |
| 68 | |||
| 69 | template <typename Scalar> | ||
| 70 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 71 | ✗ | ResidualModelFrameTranslationTpl<Scalar>::createData( | |
| 72 | DataCollectorAbstract* const data) { | ||
| 73 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 74 | ✗ | data); | |
| 75 | } | ||
| 76 | |||
| 77 | template <typename Scalar> | ||
| 78 | template <typename NewScalar> | ||
| 79 | ResidualModelFrameTranslationTpl<NewScalar> | ||
| 80 | ✗ | ResidualModelFrameTranslationTpl<Scalar>::cast() const { | |
| 81 | typedef ResidualModelFrameTranslationTpl<NewScalar> ReturnType; | ||
| 82 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 83 | ✗ | ReturnType ret( | |
| 84 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 85 | ✗ | id_, xref_.template cast<NewScalar>(), nu_); | |
| 86 | ✗ | return ret; | |
| 87 | } | ||
| 88 | |||
| 89 | template <typename Scalar> | ||
| 90 | ✗ | void ResidualModelFrameTranslationTpl<Scalar>::print(std::ostream& os) const { | |
| 91 | ✗ | const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", | |
| 92 | "]"); | ||
| 93 | ✗ | os << "ResidualModelFrameTranslation {frame=" << pin_model_->frames[id_].name | |
| 94 | ✗ | << ", tref=" << xref_.transpose().format(fmt) << "}"; | |
| 95 | ✗ | } | |
| 96 | |||
| 97 | template <typename Scalar> | ||
| 98 | ✗ | pinocchio::FrameIndex ResidualModelFrameTranslationTpl<Scalar>::get_id() const { | |
| 99 | ✗ | return id_; | |
| 100 | } | ||
| 101 | |||
| 102 | template <typename Scalar> | ||
| 103 | const typename MathBaseTpl<Scalar>::Vector3s& | ||
| 104 | ✗ | ResidualModelFrameTranslationTpl<Scalar>::get_reference() const { | |
| 105 | ✗ | return xref_; | |
| 106 | } | ||
| 107 | |||
| 108 | template <typename Scalar> | ||
| 109 | ✗ | void ResidualModelFrameTranslationTpl<Scalar>::set_id( | |
| 110 | const pinocchio::FrameIndex id) { | ||
| 111 | ✗ | id_ = id; | |
| 112 | ✗ | } | |
| 113 | |||
| 114 | template <typename Scalar> | ||
| 115 | ✗ | void ResidualModelFrameTranslationTpl<Scalar>::set_reference( | |
| 116 | const Vector3s& translation) { | ||
| 117 | ✗ | xref_ = translation; | |
| 118 | ✗ | } | |
| 119 | |||
| 120 | } // namespace crocoddyl | ||
| 121 |