| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/frame-velocity.hpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_ | ||
| 10 | #define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_ | ||
| 11 | |||
| 12 | #include <pinocchio/multibody/fwd.hpp> | ||
| 13 | #include <pinocchio/spatial/motion.hpp> | ||
| 14 | |||
| 15 | #include "crocoddyl/core/residual-base.hpp" | ||
| 16 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 17 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 18 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 19 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 20 | |||
| 21 | namespace crocoddyl { | ||
| 22 | |||
| 23 | /** | ||
| 24 | * @brief Frame velocity residual | ||
| 25 | * | ||
| 26 | * This residual function defines a tracking of frame velocity as | ||
| 27 | * \f$\mathbf{r}=\mathbf{v}-\mathbf{v}^*\f$, where | ||
| 28 | * \f$\mathbf{v},\mathbf{v}^*\in~T_{\mathbf{p}}~\mathbb{SE(3)}\f$ are the | ||
| 29 | * current and reference frame velocities, respectively. Note that the tangent | ||
| 30 | * vector is described by the frame placement \f$\mathbf{p}\f$, and the | ||
| 31 | * dimension of the residual vector is 6. Furthermore, the Jacobians of the | ||
| 32 | * residual function are computed analytically. | ||
| 33 | * | ||
| 34 | * As described in `ResidualModelAbstractTpl`, the residual vector and its | ||
| 35 | * Jacobians are calculated by `calc` and `calcDiff`, respectively. | ||
| 36 | * | ||
| 37 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 38 | */ | ||
| 39 | template <typename _Scalar> | ||
| 40 | class ResidualModelFrameVelocityTpl : public ResidualModelAbstractTpl<_Scalar> { | ||
| 41 | public: | ||
| 42 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 43 | |||
| 44 | typedef _Scalar Scalar; | ||
| 45 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 46 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 47 | typedef ResidualDataFrameVelocityTpl<Scalar> Data; | ||
| 48 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 49 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 50 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 51 | typedef pinocchio::MotionTpl<Scalar> Motion; | ||
| 52 | typedef typename MathBase::VectorXs VectorXs; | ||
| 53 | |||
| 54 | /** | ||
| 55 | * @brief Initialize the frame velocity residual model | ||
| 56 | * | ||
| 57 | * @param[in] state State of the multibody system | ||
| 58 | * @param[in] id Reference frame id | ||
| 59 | * @param[in] velocity Reference velocity | ||
| 60 | * @param[in] type Reference type of velocity (WORLD, LOCAL, | ||
| 61 | * LOCAL_WORLD_ALIGNED) | ||
| 62 | * @param[in] nu Dimension of the control vector | ||
| 63 | */ | ||
| 64 | ResidualModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state, | ||
| 65 | const pinocchio::FrameIndex id, | ||
| 66 | const Motion& velocity, | ||
| 67 | const pinocchio::ReferenceFrame type, | ||
| 68 | const std::size_t nu); | ||
| 69 | |||
| 70 | /** | ||
| 71 | * @brief Initialize the frame velocity residual model | ||
| 72 | * | ||
| 73 | * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. | ||
| 74 | * | ||
| 75 | * @param[in] state State of the multibody system | ||
| 76 | * @param[in] id Reference frame id | ||
| 77 | * @param[in] velocity Reference velocity | ||
| 78 | * @param[in] type Reference type of velocity (WORLD, LOCAL, | ||
| 79 | * LOCAL_WORLD_ALIGNED) | ||
| 80 | */ | ||
| 81 | ResidualModelFrameVelocityTpl(boost::shared_ptr<StateMultibody> state, | ||
| 82 | const pinocchio::FrameIndex id, | ||
| 83 | const Motion& velocity, | ||
| 84 | const pinocchio::ReferenceFrame type); | ||
| 85 | virtual ~ResidualModelFrameVelocityTpl(); | ||
| 86 | |||
| 87 | /** | ||
| 88 | * @brief Compute the frame velocity residual vector | ||
| 89 | * | ||
| 90 | * @param[in] data Frame velocity residual data | ||
| 91 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 92 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 93 | */ | ||
| 94 | virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 95 | const Eigen::Ref<const VectorXs>& x, | ||
| 96 | const Eigen::Ref<const VectorXs>& u); | ||
| 97 | |||
| 98 | /** | ||
| 99 | * @brief Compute the Jacobians of the frame velocity residual | ||
| 100 | * | ||
| 101 | * @param[in] data Frame velocity residual data | ||
| 102 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 103 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 104 | */ | ||
| 105 | virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 106 | const Eigen::Ref<const VectorXs>& x, | ||
| 107 | const Eigen::Ref<const VectorXs>& u); | ||
| 108 | |||
| 109 | /** | ||
| 110 | * @brief Create the frame velocity residual data | ||
| 111 | */ | ||
| 112 | virtual boost::shared_ptr<ResidualDataAbstract> createData( | ||
| 113 | DataCollectorAbstract* const data); | ||
| 114 | |||
| 115 | /** | ||
| 116 | * @brief Return the reference frame id | ||
| 117 | */ | ||
| 118 | pinocchio::FrameIndex get_id() const; | ||
| 119 | |||
| 120 | /** | ||
| 121 | * @brief Return the reference velocity | ||
| 122 | */ | ||
| 123 | const Motion& get_reference() const; | ||
| 124 | |||
| 125 | /** | ||
| 126 | * @brief Return the reference type of velocity | ||
| 127 | */ | ||
| 128 | pinocchio::ReferenceFrame get_type() const; | ||
| 129 | |||
| 130 | /** | ||
| 131 | * @brief Modify reference frame id | ||
| 132 | */ | ||
| 133 | void set_id(const pinocchio::FrameIndex id); | ||
| 134 | |||
| 135 | /** | ||
| 136 | * @brief Modify reference velocity | ||
| 137 | */ | ||
| 138 | void set_reference(const Motion& velocity); | ||
| 139 | |||
| 140 | /** | ||
| 141 | * @brief Modify reference type of velocity | ||
| 142 | */ | ||
| 143 | void set_type(const pinocchio::ReferenceFrame type); | ||
| 144 | |||
| 145 | /** | ||
| 146 | * @brief Print relevant information of the frame-velocity residual | ||
| 147 | * | ||
| 148 | * @param[out] os Output stream object | ||
| 149 | */ | ||
| 150 | virtual void print(std::ostream& os) const; | ||
| 151 | |||
| 152 | protected: | ||
| 153 | using Base::nr_; | ||
| 154 | using Base::nu_; | ||
| 155 | using Base::state_; | ||
| 156 | using Base::u_dependent_; | ||
| 157 | |||
| 158 | private: | ||
| 159 | pinocchio::FrameIndex id_; //!< Reference frame id | ||
| 160 | Motion vref_; //!< Reference velocity | ||
| 161 | pinocchio::ReferenceFrame type_; //!< Reference type of velocity | ||
| 162 | boost::shared_ptr<typename StateMultibody::PinocchioModel> | ||
| 163 | pin_model_; //!< Pinocchio model | ||
| 164 | }; | ||
| 165 | |||
| 166 | template <typename _Scalar> | ||
| 167 | struct ResidualDataFrameVelocityTpl : public ResidualDataAbstractTpl<_Scalar> { | ||
| 168 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 169 | |||
| 170 | typedef _Scalar Scalar; | ||
| 171 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 172 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 173 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 174 | typedef typename MathBase::Matrix6xs Matrix6xs; | ||
| 175 | |||
| 176 | template <template <typename Scalar> class Model> | ||
| 177 | 26099 | ResidualDataFrameVelocityTpl(Model<Scalar>* const model, | |
| 178 | DataCollectorAbstract* const data) | ||
| 179 | 26099 | : Base(model, data) { | |
| 180 | // Check that proper shared data has been passed | ||
| 181 | 26099 | DataCollectorMultibodyTpl<Scalar>* d = | |
| 182 |
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26099 | dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared); |
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26099 | if (d == NULL) { |
| 184 | ✗ | throw_pretty( | |
| 185 | "Invalid argument: the shared data should be derived from " | ||
| 186 | "DataCollectorMultibody"); | ||
| 187 | } | ||
| 188 | |||
| 189 | // Avoids data casting at runtime | ||
| 190 | 26099 | pinocchio = d->pinocchio; | |
| 191 | 26099 | } | |
| 192 | |||
| 193 | pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data | ||
| 194 | using Base::r; | ||
| 195 | using Base::Ru; | ||
| 196 | using Base::Rx; | ||
| 197 | using Base::shared; | ||
| 198 | }; | ||
| 199 | |||
| 200 | } // namespace crocoddyl | ||
| 201 | |||
| 202 | /* --- Details -------------------------------------------------------------- */ | ||
| 203 | /* --- Details -------------------------------------------------------------- */ | ||
| 204 | /* --- Details -------------------------------------------------------------- */ | ||
| 205 | #include "crocoddyl/multibody/residuals/frame-velocity.hxx" | ||
| 206 | |||
| 207 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_VELOCITY_HPP_ | ||
| 208 |