| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/multibody/residuals/frame-velocity.hxx |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 34 | 54 | 63.0% |
| Branches: | 31 | 86 | 36.0% |
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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-derivatives.hpp> | ||
| 11 | #include <pinocchio/algorithm/frames.hpp> | ||
| 12 | #include <pinocchio/algorithm/kinematics-derivatives.hpp> | ||
| 13 | |||
| 14 | #include "crocoddyl/multibody/residuals/frame-velocity.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | |||
| 18 | template <typename Scalar> | ||
| 19 | 595 | ResidualModelFrameVelocityTpl<Scalar>::ResidualModelFrameVelocityTpl( | |
| 20 | std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 21 | const Motion& vref, const pinocchio::ReferenceFrame type, | ||
| 22 | const std::size_t nu) | ||
| 23 | : Base(state, 6, nu, true, true, false), | ||
| 24 | 595 | id_(id), | |
| 25 | 595 | vref_(vref), | |
| 26 | 595 | type_(type), | |
| 27 |
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595 | pin_model_(state->get_pinocchio()) { |
| 28 |
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595 | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= |
| 29 | id) { | ||
| 30 | ✗ | throw_pretty( | |
| 31 | "Invalid argument: " | ||
| 32 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 33 | } | ||
| 34 | 595 | } | |
| 35 | |||
| 36 | template <typename Scalar> | ||
| 37 | 3 | ResidualModelFrameVelocityTpl<Scalar>::ResidualModelFrameVelocityTpl( | |
| 38 | std::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 39 | const Motion& vref, const pinocchio::ReferenceFrame type) | ||
| 40 | : Base(state, 6, true, true, false), | ||
| 41 | 3 | id_(id), | |
| 42 | 3 | vref_(vref), | |
| 43 | 3 | type_(type), | |
| 44 |
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3 | pin_model_(state->get_pinocchio()) { |
| 45 |
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3 | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= |
| 46 | id) { | ||
| 47 | ✗ | throw_pretty( | |
| 48 | "Invalid argument: " | ||
| 49 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 50 | } | ||
| 51 | 3 | } | |
| 52 | |||
| 53 | template <typename Scalar> | ||
| 54 | 21164 | void ResidualModelFrameVelocityTpl<Scalar>::calc( | |
| 55 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 56 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 57 | 21164 | Data* d = static_cast<Data*>(data.get()); | |
| 58 | |||
| 59 | // Compute the frame velocity w.r.t. the reference frame | ||
| 60 |
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21164 | data->r = (pinocchio::getFrameVelocity(*pin_model_.get(), *d->pinocchio, id_, |
| 61 | type_) - | ||
| 62 | 21164 | vref_) | |
| 63 |
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21164 | .toVector(); |
| 64 | 21164 | } | |
| 65 | |||
| 66 | template <typename Scalar> | ||
| 67 | 3537 | void ResidualModelFrameVelocityTpl<Scalar>::calcDiff( | |
| 68 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 69 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 70 | // Get the partial derivatives of the local frame velocity | ||
| 71 | 3537 | Data* d = static_cast<Data*>(data.get()); | |
| 72 | 3537 | const std::size_t nv = state_->get_nv(); | |
| 73 |
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3537 | pinocchio::getFrameVelocityDerivatives(*pin_model_.get(), *d->pinocchio, id_, |
| 74 |
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3537 | type_, data->Rx.leftCols(nv), |
| 75 | 3537 | data->Rx.rightCols(nv)); | |
| 76 | 3537 | } | |
| 77 | |||
| 78 | template <typename Scalar> | ||
| 79 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 80 | 26111 | ResidualModelFrameVelocityTpl<Scalar>::createData( | |
| 81 | DataCollectorAbstract* const data) { | ||
| 82 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 83 |
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26111 | data); |
| 84 | } | ||
| 85 | |||
| 86 | template <typename Scalar> | ||
| 87 | template <typename NewScalar> | ||
| 88 | ResidualModelFrameVelocityTpl<NewScalar> | ||
| 89 | ✗ | ResidualModelFrameVelocityTpl<Scalar>::cast() const { | |
| 90 | typedef ResidualModelFrameVelocityTpl<NewScalar> ReturnType; | ||
| 91 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 92 | ✗ | ReturnType ret( | |
| 93 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), | |
| 94 | ✗ | id_, vref_.template cast<NewScalar>(), type_, nu_); | |
| 95 | ✗ | return ret; | |
| 96 | } | ||
| 97 | |||
| 98 | template <typename Scalar> | ||
| 99 | 63 | void ResidualModelFrameVelocityTpl<Scalar>::print(std::ostream& os) const { | |
| 100 |
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126 | const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", |
| 101 | "]"); | ||
| 102 | 63 | os << "ResidualModelFrameVelocity {frame=" << pin_model_->frames[id_].name | |
| 103 |
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126 | << ", vref=" << vref_.toVector().transpose().format(fmt) << "}"; |
| 104 | 63 | } | |
| 105 | |||
| 106 | template <typename Scalar> | ||
| 107 | ✗ | pinocchio::FrameIndex ResidualModelFrameVelocityTpl<Scalar>::get_id() const { | |
| 108 | ✗ | return id_; | |
| 109 | } | ||
| 110 | |||
| 111 | template <typename Scalar> | ||
| 112 | const pinocchio::MotionTpl<Scalar>& | ||
| 113 | ✗ | ResidualModelFrameVelocityTpl<Scalar>::get_reference() const { | |
| 114 | ✗ | return vref_; | |
| 115 | } | ||
| 116 | |||
| 117 | template <typename Scalar> | ||
| 118 | ✗ | pinocchio::ReferenceFrame ResidualModelFrameVelocityTpl<Scalar>::get_type() | |
| 119 | const { | ||
| 120 | ✗ | return type_; | |
| 121 | } | ||
| 122 | |||
| 123 | template <typename Scalar> | ||
| 124 | ✗ | void ResidualModelFrameVelocityTpl<Scalar>::set_id( | |
| 125 | const pinocchio::FrameIndex id) { | ||
| 126 | ✗ | id_ = id; | |
| 127 | } | ||
| 128 | |||
| 129 | template <typename Scalar> | ||
| 130 | ✗ | void ResidualModelFrameVelocityTpl<Scalar>::set_reference( | |
| 131 | const Motion& velocity) { | ||
| 132 | ✗ | vref_ = velocity; | |
| 133 | } | ||
| 134 | |||
| 135 | template <typename Scalar> | ||
| 136 | ✗ | void ResidualModelFrameVelocityTpl<Scalar>::set_type( | |
| 137 | const pinocchio::ReferenceFrame type) { | ||
| 138 | ✗ | type_ = type; | |
| 139 | } | ||
| 140 | |||
| 141 | } // namespace crocoddyl | ||
| 142 |