| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/multibody/residuals/frame-velocity.hxx |
| Date: | 2025-01-16 08:47:40 |
| Exec | Total | Coverage | |
|---|---|---|---|
| Lines: | 35 | 50 | 70.0% |
| Branches: | 27 | 74 | 36.5% |
| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2022, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include <pinocchio/algorithm/frames-derivatives.hpp> | ||
| 10 | #include <pinocchio/algorithm/frames.hpp> | ||
| 11 | #include <pinocchio/algorithm/kinematics-derivatives.hpp> | ||
| 12 | |||
| 13 | #include "crocoddyl/multibody/residuals/frame-velocity.hpp" | ||
| 14 | |||
| 15 | namespace crocoddyl { | ||
| 16 | |||
| 17 | template <typename Scalar> | ||
| 18 | 592 | ResidualModelFrameVelocityTpl<Scalar>::ResidualModelFrameVelocityTpl( | |
| 19 | boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 20 | const Motion& velocity, const pinocchio::ReferenceFrame type, | ||
| 21 | const std::size_t nu) | ||
| 22 | : Base(state, 6, nu, true, true, false), | ||
| 23 | 592 | id_(id), | |
| 24 | 592 | vref_(velocity), | |
| 25 | 592 | type_(type), | |
| 26 |
2/4✓ Branch 2 taken 592 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 592 times.
✗ Branch 7 not taken.
|
592 | pin_model_(state->get_pinocchio()) { |
| 27 |
1/2✗ Branch 3 not taken.
✓ Branch 4 taken 592 times.
|
592 | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= |
| 28 | id) { | ||
| 29 | ✗ | throw_pretty( | |
| 30 | "Invalid argument: " | ||
| 31 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 32 | } | ||
| 33 | 592 | } | |
| 34 | |||
| 35 | template <typename Scalar> | ||
| 36 | 3 | ResidualModelFrameVelocityTpl<Scalar>::ResidualModelFrameVelocityTpl( | |
| 37 | boost::shared_ptr<StateMultibody> state, const pinocchio::FrameIndex id, | ||
| 38 | const Motion& velocity, const pinocchio::ReferenceFrame type) | ||
| 39 | : Base(state, 6, true, true, false), | ||
| 40 | 3 | id_(id), | |
| 41 | 3 | vref_(velocity), | |
| 42 | 3 | type_(type), | |
| 43 |
2/4✓ Branch 2 taken 3 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 3 times.
✗ Branch 7 not taken.
|
3 | pin_model_(state->get_pinocchio()) { |
| 44 |
1/2✗ Branch 3 not taken.
✓ Branch 4 taken 3 times.
|
3 | if (static_cast<pinocchio::FrameIndex>(state->get_pinocchio()->nframes) <= |
| 45 | id) { | ||
| 46 | ✗ | throw_pretty( | |
| 47 | "Invalid argument: " | ||
| 48 | << "the frame index is wrong (it does not exist in the robot)"); | ||
| 49 | } | ||
| 50 | 3 | } | |
| 51 | |||
| 52 | template <typename Scalar> | ||
| 53 | 1194 | ResidualModelFrameVelocityTpl<Scalar>::~ResidualModelFrameVelocityTpl() {} | |
| 54 | |||
| 55 | template <typename Scalar> | ||
| 56 | 21140 | void ResidualModelFrameVelocityTpl<Scalar>::calc( | |
| 57 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 58 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 59 | 21140 | Data* d = static_cast<Data*>(data.get()); | |
| 60 | |||
| 61 | // Compute the frame velocity w.r.t. the reference frame | ||
| 62 |
1/2✓ Branch 1 taken 21140 times.
✗ Branch 2 not taken.
|
21140 | data->r = (pinocchio::getFrameVelocity(*pin_model_.get(), *d->pinocchio, id_, |
| 63 | type_) - | ||
| 64 | 21140 | vref_) | |
| 65 |
2/4✓ Branch 3 taken 21140 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 21140 times.
✗ Branch 7 not taken.
|
21140 | .toVector(); |
| 66 | 21140 | } | |
| 67 | |||
| 68 | template <typename Scalar> | ||
| 69 | 3521 | void ResidualModelFrameVelocityTpl<Scalar>::calcDiff( | |
| 70 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 71 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 72 | // Get the partial derivatives of the local frame velocity | ||
| 73 | 3521 | Data* d = static_cast<Data*>(data.get()); | |
| 74 | 3521 | const std::size_t nv = state_->get_nv(); | |
| 75 |
1/2✓ Branch 2 taken 3521 times.
✗ Branch 3 not taken.
|
3521 | pinocchio::getFrameVelocityDerivatives(*pin_model_.get(), *d->pinocchio, id_, |
| 76 |
1/2✓ Branch 2 taken 3521 times.
✗ Branch 3 not taken.
|
3521 | type_, data->Rx.leftCols(nv), |
| 77 | 3521 | data->Rx.rightCols(nv)); | |
| 78 | 3521 | } | |
| 79 | |||
| 80 | template <typename Scalar> | ||
| 81 | boost::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 82 | 26099 | ResidualModelFrameVelocityTpl<Scalar>::createData( | |
| 83 | DataCollectorAbstract* const data) { | ||
| 84 | ✗ | return boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 85 |
1/2✓ Branch 2 taken 26099 times.
✗ Branch 3 not taken.
|
26099 | data); |
| 86 | } | ||
| 87 | |||
| 88 | template <typename Scalar> | ||
| 89 | 63 | void ResidualModelFrameVelocityTpl<Scalar>::print(std::ostream& os) const { | |
| 90 |
7/14✓ Branch 2 taken 63 times.
✗ Branch 3 not taken.
✓ Branch 6 taken 63 times.
✗ Branch 7 not taken.
✓ Branch 10 taken 63 times.
✗ Branch 11 not taken.
✓ Branch 14 taken 63 times.
✗ Branch 15 not taken.
✓ Branch 18 taken 63 times.
✗ Branch 19 not taken.
✓ Branch 22 taken 63 times.
✗ Branch 23 not taken.
✓ Branch 25 taken 63 times.
✗ Branch 26 not taken.
|
126 | const Eigen::IOFormat fmt(2, Eigen::DontAlignCols, ", ", ";\n", "", "", "[", |
| 91 | "]"); | ||
| 92 | 63 | os << "ResidualModelFrameVelocity {frame=" << pin_model_->frames[id_].name | |
| 93 |
8/16✓ Branch 1 taken 63 times.
✗ Branch 2 not taken.
✓ Branch 5 taken 63 times.
✗ Branch 6 not taken.
✓ Branch 8 taken 63 times.
✗ Branch 9 not taken.
✓ Branch 11 taken 63 times.
✗ Branch 12 not taken.
✓ Branch 14 taken 63 times.
✗ Branch 15 not taken.
✓ Branch 17 taken 63 times.
✗ Branch 18 not taken.
✓ Branch 20 taken 63 times.
✗ Branch 21 not taken.
✓ Branch 23 taken 63 times.
✗ Branch 24 not taken.
|
126 | << ", vref=" << vref_.toVector().transpose().format(fmt) << "}"; |
| 94 | 63 | } | |
| 95 | |||
| 96 | template <typename Scalar> | ||
| 97 | ✗ | pinocchio::FrameIndex ResidualModelFrameVelocityTpl<Scalar>::get_id() const { | |
| 98 | ✗ | return id_; | |
| 99 | } | ||
| 100 | |||
| 101 | template <typename Scalar> | ||
| 102 | const pinocchio::MotionTpl<Scalar>& | ||
| 103 | ✗ | ResidualModelFrameVelocityTpl<Scalar>::get_reference() const { | |
| 104 | ✗ | return vref_; | |
| 105 | } | ||
| 106 | |||
| 107 | template <typename Scalar> | ||
| 108 | ✗ | pinocchio::ReferenceFrame ResidualModelFrameVelocityTpl<Scalar>::get_type() | |
| 109 | const { | ||
| 110 | ✗ | return type_; | |
| 111 | } | ||
| 112 | |||
| 113 | template <typename Scalar> | ||
| 114 | ✗ | void ResidualModelFrameVelocityTpl<Scalar>::set_id( | |
| 115 | const pinocchio::FrameIndex id) { | ||
| 116 | ✗ | id_ = id; | |
| 117 | } | ||
| 118 | |||
| 119 | template <typename Scalar> | ||
| 120 | ✗ | void ResidualModelFrameVelocityTpl<Scalar>::set_reference( | |
| 121 | const Motion& velocity) { | ||
| 122 | ✗ | vref_ = velocity; | |
| 123 | } | ||
| 124 | |||
| 125 | template <typename Scalar> | ||
| 126 | ✗ | void ResidualModelFrameVelocityTpl<Scalar>::set_type( | |
| 127 | const pinocchio::ReferenceFrame type) { | ||
| 128 | ✗ | type_ = type; | |
| 129 | } | ||
| 130 | |||
| 131 | } // namespace crocoddyl | ||
| 132 |