| 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 |
|
|
|