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