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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 | #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/residual-base.hpp" | ||
| 14 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 15 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 16 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 17 | |||
| 18 | namespace crocoddyl { | ||
| 19 | |||
| 20 | /** | ||
| 21 | * @brief Frame velocity residual | ||
| 22 | * | ||
| 23 | * This residual function defines a tracking of frame velocity as | ||
| 24 | * \f$\mathbf{r}=\mathbf{v}-\mathbf{v}^*\f$, where | ||
| 25 | * \f$\mathbf{v},\mathbf{v}^*\in~T_{\mathbf{p}}~\mathbb{SE(3)}\f$ are the | ||
| 26 | * current and reference frame velocities, respectively. Note that the tangent | ||
| 27 | * vector is described by the frame placement \f$\mathbf{p}\f$, and the | ||
| 28 | * dimension of the residual vector is 6. Furthermore, the Jacobians of the | ||
| 29 | * residual function are computed analytically. | ||
| 30 | * | ||
| 31 | * As described in `ResidualModelAbstractTpl`, the residual vector and its | ||
| 32 | * Jacobians are calculated by `calc` and `calcDiff`, respectively. | ||
| 33 | * | ||
| 34 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 35 | */ | ||
| 36 | template <typename _Scalar> | ||
| 37 | class ResidualModelFrameVelocityTpl : public ResidualModelAbstractTpl<_Scalar> { | ||
| 38 | public: | ||
| 39 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 40 | ✗ | CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelFrameVelocityTpl) | |
| 41 | |||
| 42 | typedef _Scalar Scalar; | ||
| 43 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 44 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 45 | typedef ResidualDataFrameVelocityTpl<Scalar> Data; | ||
| 46 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 47 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 48 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 49 | typedef pinocchio::MotionTpl<Scalar> Motion; | ||
| 50 | typedef typename MathBase::VectorXs VectorXs; | ||
| 51 | |||
| 52 | /** | ||
| 53 | * @brief Initialize the frame velocity residual model | ||
| 54 | * | ||
| 55 | * @param[in] state State of the multibody system | ||
| 56 | * @param[in] id Reference frame id | ||
| 57 | * @param[in] vref Reference velocity | ||
| 58 | * @param[in] type Reference type of velocity (WORLD, LOCAL, | ||
| 59 | * LOCAL_WORLD_ALIGNED) | ||
| 60 | * @param[in] nu Dimension of the control vector | ||
| 61 | */ | ||
| 62 | ResidualModelFrameVelocityTpl(std::shared_ptr<StateMultibody> state, | ||
| 63 | const pinocchio::FrameIndex id, | ||
| 64 | const Motion& vref, | ||
| 65 | const pinocchio::ReferenceFrame type, | ||
| 66 | const std::size_t nu); | ||
| 67 | |||
| 68 | /** | ||
| 69 | * @brief Initialize the frame velocity residual model | ||
| 70 | * | ||
| 71 | * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. | ||
| 72 | * | ||
| 73 | * @param[in] state State of the multibody system | ||
| 74 | * @param[in] id Reference frame id | ||
| 75 | * @param[in] vref Reference velocity | ||
| 76 | * @param[in] type Reference type of velocity (WORLD, LOCAL, | ||
| 77 | * LOCAL_WORLD_ALIGNED) | ||
| 78 | */ | ||
| 79 | ResidualModelFrameVelocityTpl(std::shared_ptr<StateMultibody> state, | ||
| 80 | const pinocchio::FrameIndex id, | ||
| 81 | const Motion& vref, | ||
| 82 | const pinocchio::ReferenceFrame type); | ||
| 83 | ✗ | virtual ~ResidualModelFrameVelocityTpl() = default; | |
| 84 | |||
| 85 | /** | ||
| 86 | * @brief Compute the frame velocity residual vector | ||
| 87 | * | ||
| 88 | * @param[in] data Frame velocity residual data | ||
| 89 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 90 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 91 | */ | ||
| 92 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 93 | const Eigen::Ref<const VectorXs>& x, | ||
| 94 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 95 | |||
| 96 | /** | ||
| 97 | * @brief Compute the Jacobians of the frame velocity residual | ||
| 98 | * | ||
| 99 | * @param[in] data Frame velocity residual data | ||
| 100 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 101 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 102 | */ | ||
| 103 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 104 | const Eigen::Ref<const VectorXs>& x, | ||
| 105 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 106 | |||
| 107 | /** | ||
| 108 | * @brief Create the frame velocity residual data | ||
| 109 | */ | ||
| 110 | virtual std::shared_ptr<ResidualDataAbstract> createData( | ||
| 111 | DataCollectorAbstract* const data) override; | ||
| 112 | |||
| 113 | /** | ||
| 114 | * @brief Cast the frame-velocity residual model to a different scalar type. | ||
| 115 | * | ||
| 116 | * It is useful for operations requiring different precision or scalar types. | ||
| 117 | * | ||
| 118 | * @tparam NewScalar The new scalar type to cast to. | ||
| 119 | * @return ResidualModelFrameVelocityTpl<NewScalar> A residual model with the | ||
| 120 | * new scalar type. | ||
| 121 | */ | ||
| 122 | template <typename NewScalar> | ||
| 123 | ResidualModelFrameVelocityTpl<NewScalar> cast() const; | ||
| 124 | |||
| 125 | /** | ||
| 126 | * @brief Return the reference frame id | ||
| 127 | */ | ||
| 128 | pinocchio::FrameIndex get_id() const; | ||
| 129 | |||
| 130 | /** | ||
| 131 | * @brief Return the reference velocity | ||
| 132 | */ | ||
| 133 | const Motion& get_reference() const; | ||
| 134 | |||
| 135 | /** | ||
| 136 | * @brief Return the reference type of velocity | ||
| 137 | */ | ||
| 138 | pinocchio::ReferenceFrame get_type() const; | ||
| 139 | |||
| 140 | /** | ||
| 141 | * @brief Modify reference frame id | ||
| 142 | */ | ||
| 143 | void set_id(const pinocchio::FrameIndex id); | ||
| 144 | |||
| 145 | /** | ||
| 146 | * @brief Modify reference velocity | ||
| 147 | */ | ||
| 148 | void set_reference(const Motion& velocity); | ||
| 149 | |||
| 150 | /** | ||
| 151 | * @brief Modify reference type of velocity | ||
| 152 | */ | ||
| 153 | void set_type(const pinocchio::ReferenceFrame type); | ||
| 154 | |||
| 155 | /** | ||
| 156 | * @brief Print relevant information of the frame-velocity residual | ||
| 157 | * | ||
| 158 | * @param[out] os Output stream object | ||
| 159 | */ | ||
| 160 | virtual void print(std::ostream& os) const override; | ||
| 161 | |||
| 162 | protected: | ||
| 163 | using Base::nr_; | ||
| 164 | using Base::nu_; | ||
| 165 | using Base::state_; | ||
| 166 | using Base::u_dependent_; | ||
| 167 | |||
| 168 | private: | ||
| 169 | pinocchio::FrameIndex id_; //!< Reference frame id | ||
| 170 | Motion vref_; //!< Reference velocity | ||
| 171 | pinocchio::ReferenceFrame type_; //!< Reference type of velocity | ||
| 172 | std::shared_ptr<typename StateMultibody::PinocchioModel> | ||
| 173 | pin_model_; //!< Pinocchio model | ||
| 174 | }; | ||
| 175 | |||
| 176 | template <typename _Scalar> | ||
| 177 | struct ResidualDataFrameVelocityTpl : public ResidualDataAbstractTpl<_Scalar> { | ||
| 178 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 179 | |||
| 180 | typedef _Scalar Scalar; | ||
| 181 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 182 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 183 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 184 | typedef typename MathBase::Matrix6xs Matrix6xs; | ||
| 185 | |||
| 186 | template <template <typename Scalar> class Model> | ||
| 187 | ✗ | ResidualDataFrameVelocityTpl(Model<Scalar>* const model, | |
| 188 | DataCollectorAbstract* const data) | ||
| 189 | ✗ | : Base(model, data) { | |
| 190 | // Check that proper shared data has been passed | ||
| 191 | ✗ | DataCollectorMultibodyTpl<Scalar>* d = | |
| 192 | ✗ | dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared); | |
| 193 | ✗ | if (d == NULL) { | |
| 194 | ✗ | throw_pretty( | |
| 195 | "Invalid argument: the shared data should be derived from " | ||
| 196 | "DataCollectorMultibody"); | ||
| 197 | } | ||
| 198 | |||
| 199 | // Avoids data casting at runtime | ||
| 200 | ✗ | pinocchio = d->pinocchio; | |
| 201 | ✗ | } | |
| 202 | ✗ | virtual ~ResidualDataFrameVelocityTpl() = default; | |
| 203 | |||
| 204 | pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data | ||
| 205 | using Base::r; | ||
| 206 | using Base::Ru; | ||
| 207 | using Base::Rx; | ||
| 208 | using Base::shared; | ||
| 209 | }; | ||
| 210 | |||
| 211 | } // namespace crocoddyl | ||
| 212 | |||
| 213 | /* --- Details -------------------------------------------------------------- */ | ||
| 214 | /* --- Details -------------------------------------------------------------- */ | ||
| 215 | /* --- Details -------------------------------------------------------------- */ | ||
| 216 | #include "crocoddyl/multibody/residuals/frame-velocity.hxx" | ||
| 217 | |||
| 218 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( | ||
| 219 | crocoddyl::ResidualModelFrameVelocityTpl) | ||
| 220 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 221 | crocoddyl::ResidualDataFrameVelocityTpl) | ||
| 222 | |||
| 223 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_ | ||
| 224 |