| Directory: | ./ |
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| File: | include/crocoddyl/multibody/actions/free-fwddyn.hpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2024, 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 | #ifndef CROCODDYL_MULTIBODY_ACTIONS_FREE_FWDDYN_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_ACTIONS_FREE_FWDDYN_HPP_ | ||
| 12 | |||
| 13 | #include <stdexcept> | ||
| 14 | |||
| 15 | #ifdef PINOCCHIO_WITH_CPPAD_SUPPORT // TODO(cmastalli): Removed after merging | ||
| 16 | // Pinocchio v.2.4.8 | ||
| 17 | #include <pinocchio/codegen/cppadcg.hpp> | ||
| 18 | #endif | ||
| 19 | |||
| 20 | #include "crocoddyl/core/actuation-base.hpp" | ||
| 21 | #include "crocoddyl/core/constraints/constraint-manager.hpp" | ||
| 22 | #include "crocoddyl/core/costs/cost-sum.hpp" | ||
| 23 | #include "crocoddyl/core/diff-action-base.hpp" | ||
| 24 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 25 | #include "crocoddyl/multibody/data/multibody.hpp" | ||
| 26 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 27 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 28 | |||
| 29 | namespace crocoddyl { | ||
| 30 | |||
| 31 | /** | ||
| 32 | * @brief Differential action model for free forward dynamics in multibody | ||
| 33 | * systems. | ||
| 34 | * | ||
| 35 | * This class implements free forward dynamics, i.e., | ||
| 36 | * \f[ | ||
| 37 | * \mathbf{M}\dot{\mathbf{v}} + \mathbf{h}(\mathbf{q},\mathbf{v}) = | ||
| 38 | * \boldsymbol{\tau}, \f] where \f$\mathbf{q}\in Q\f$, | ||
| 39 | * \f$\mathbf{v}\in\mathbb{R}^{nv}\f$ are the configuration point and | ||
| 40 | * generalized velocity (its tangent vector), respectively; | ||
| 41 | * \f$\boldsymbol{\tau}\f$ is the torque inputs and | ||
| 42 | * \f$\mathbf{h}(\mathbf{q},\mathbf{v})\f$ are the Coriolis effect and gravity | ||
| 43 | * field. | ||
| 44 | * | ||
| 45 | * The derivatives of the system acceleration is computed efficiently based on | ||
| 46 | * the analytical derivatives of Articulate Body Algorithm (ABA) as described in | ||
| 47 | * \cite carpentier-rss18. | ||
| 48 | * | ||
| 49 | * The stack of cost functions is implemented in `CostModelSumTpl`. The | ||
| 50 | * computation of the free forward dynamics and its derivatives are carrying out | ||
| 51 | * inside `calc()` and `calcDiff()` functions, respectively. It is also | ||
| 52 | * important to remark that `calcDiff()` computes the derivatives using the | ||
| 53 | * latest stored values by `calc()`. Thus, we need to run `calc()` first. | ||
| 54 | * | ||
| 55 | * \sa `DifferentialActionModelAbstractTpl`, `calc()`, `calcDiff()`, | ||
| 56 | * `createData()` | ||
| 57 | */ | ||
| 58 | template <typename _Scalar> | ||
| 59 | class DifferentialActionModelFreeFwdDynamicsTpl | ||
| 60 | : public DifferentialActionModelAbstractTpl<_Scalar> { | ||
| 61 | public: | ||
| 62 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 63 | |||
| 64 | typedef _Scalar Scalar; | ||
| 65 | typedef DifferentialActionModelAbstractTpl<Scalar> Base; | ||
| 66 | typedef DifferentialActionDataFreeFwdDynamicsTpl<Scalar> Data; | ||
| 67 | typedef DifferentialActionDataAbstractTpl<Scalar> | ||
| 68 | DifferentialActionDataAbstract; | ||
| 69 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 70 | typedef CostModelSumTpl<Scalar> CostModelSum; | ||
| 71 | typedef ConstraintModelManagerTpl<Scalar> ConstraintModelManager; | ||
| 72 | typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract; | ||
| 73 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 74 | typedef typename MathBase::VectorXs VectorXs; | ||
| 75 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 76 | |||
| 77 | DifferentialActionModelFreeFwdDynamicsTpl( | ||
| 78 | boost::shared_ptr<StateMultibody> state, | ||
| 79 | boost::shared_ptr<ActuationModelAbstract> actuation, | ||
| 80 | boost::shared_ptr<CostModelSum> costs, | ||
| 81 | boost::shared_ptr<ConstraintModelManager> constraints = nullptr); | ||
| 82 | virtual ~DifferentialActionModelFreeFwdDynamicsTpl(); | ||
| 83 | |||
| 84 | /** | ||
| 85 | * @brief Compute the system acceleration, and cost value | ||
| 86 | * | ||
| 87 | * It computes the system acceleration using the free forward-dynamics. | ||
| 88 | * | ||
| 89 | * @param[in] data Free forward-dynamics data | ||
| 90 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 91 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 92 | */ | ||
| 93 | virtual void calc( | ||
| 94 | const boost::shared_ptr<DifferentialActionDataAbstract>& data, | ||
| 95 | const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u); | ||
| 96 | |||
| 97 | /** | ||
| 98 | * @brief @copydoc Base::calc(const | ||
| 99 | * boost::shared_ptr<DifferentialActionDataAbstract>& data, const | ||
| 100 | * Eigen::Ref<const VectorXs>& x) | ||
| 101 | */ | ||
| 102 | virtual void calc( | ||
| 103 | const boost::shared_ptr<DifferentialActionDataAbstract>& data, | ||
| 104 | const Eigen::Ref<const VectorXs>& x); | ||
| 105 | |||
| 106 | /** | ||
| 107 | * @brief Compute the derivatives of the contact dynamics, and cost function | ||
| 108 | * | ||
| 109 | * @param[in] data Free forward-dynamics data | ||
| 110 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 111 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 112 | */ | ||
| 113 | virtual void calcDiff( | ||
| 114 | const boost::shared_ptr<DifferentialActionDataAbstract>& data, | ||
| 115 | const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u); | ||
| 116 | |||
| 117 | /** | ||
| 118 | * @brief @copydoc Base::calcDiff(const | ||
| 119 | * boost::shared_ptr<DifferentialActionDataAbstract>& data, const | ||
| 120 | * Eigen::Ref<const VectorXs>& x) | ||
| 121 | */ | ||
| 122 | virtual void calcDiff( | ||
| 123 | const boost::shared_ptr<DifferentialActionDataAbstract>& data, | ||
| 124 | const Eigen::Ref<const VectorXs>& x); | ||
| 125 | |||
| 126 | /** | ||
| 127 | * @brief Create the free forward-dynamics data | ||
| 128 | * | ||
| 129 | * @return free forward-dynamics data | ||
| 130 | */ | ||
| 131 | virtual boost::shared_ptr<DifferentialActionDataAbstract> createData(); | ||
| 132 | |||
| 133 | /** | ||
| 134 | * @brief Check that the given data belongs to the free forward-dynamics data | ||
| 135 | */ | ||
| 136 | virtual bool checkData( | ||
| 137 | const boost::shared_ptr<DifferentialActionDataAbstract>& data); | ||
| 138 | |||
| 139 | /** | ||
| 140 | * @brief @copydoc Base::quasiStatic() | ||
| 141 | */ | ||
| 142 | virtual void quasiStatic( | ||
| 143 | const boost::shared_ptr<DifferentialActionDataAbstract>& data, | ||
| 144 | Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x, | ||
| 145 | const std::size_t maxiter = 100, const Scalar tol = Scalar(1e-9)); | ||
| 146 | |||
| 147 | /** | ||
| 148 | * @brief Return the number of inequality constraints | ||
| 149 | */ | ||
| 150 | virtual std::size_t get_ng() const; | ||
| 151 | |||
| 152 | /** | ||
| 153 | * @brief Return the number of equality constraints | ||
| 154 | */ | ||
| 155 | virtual std::size_t get_nh() const; | ||
| 156 | |||
| 157 | /** | ||
| 158 | * @brief Return the number of equality terminal constraints | ||
| 159 | */ | ||
| 160 | virtual std::size_t get_ng_T() const; | ||
| 161 | |||
| 162 | /** | ||
| 163 | * @brief Return the number of equality terminal constraints | ||
| 164 | */ | ||
| 165 | virtual std::size_t get_nh_T() const; | ||
| 166 | |||
| 167 | /** | ||
| 168 | * @brief Return the lower bound of the inequality constraints | ||
| 169 | */ | ||
| 170 | virtual const VectorXs& get_g_lb() const; | ||
| 171 | |||
| 172 | /** | ||
| 173 | * @brief Return the upper bound of the inequality constraints | ||
| 174 | */ | ||
| 175 | virtual const VectorXs& get_g_ub() const; | ||
| 176 | |||
| 177 | /** | ||
| 178 | * @brief Return the actuation model | ||
| 179 | */ | ||
| 180 | const boost::shared_ptr<ActuationModelAbstract>& get_actuation() const; | ||
| 181 | |||
| 182 | /** | ||
| 183 | * @brief Return the cost model | ||
| 184 | */ | ||
| 185 | const boost::shared_ptr<CostModelSum>& get_costs() const; | ||
| 186 | |||
| 187 | /** | ||
| 188 | * @brief Return the constraint model manager | ||
| 189 | */ | ||
| 190 | const boost::shared_ptr<ConstraintModelManager>& get_constraints() const; | ||
| 191 | |||
| 192 | /** | ||
| 193 | * @brief Return the Pinocchio model | ||
| 194 | */ | ||
| 195 | pinocchio::ModelTpl<Scalar>& get_pinocchio() const; | ||
| 196 | |||
| 197 | /** | ||
| 198 | * @brief Return the armature vector | ||
| 199 | */ | ||
| 200 | const VectorXs& get_armature() const; | ||
| 201 | |||
| 202 | /** | ||
| 203 | * @brief Modify the armature vector | ||
| 204 | */ | ||
| 205 | void set_armature(const VectorXs& armature); | ||
| 206 | |||
| 207 | /** | ||
| 208 | * @brief Print relevant information of the free forward-dynamics model | ||
| 209 | * | ||
| 210 | * @param[out] os Output stream object | ||
| 211 | */ | ||
| 212 | virtual void print(std::ostream& os) const; | ||
| 213 | |||
| 214 | protected: | ||
| 215 | using Base::g_lb_; //!< Lower bound of the inequality constraints | ||
| 216 | using Base::g_ub_; //!< Upper bound of the inequality constraints | ||
| 217 | using Base::nu_; //!< Control dimension | ||
| 218 | using Base::state_; //!< Model of the state | ||
| 219 | |||
| 220 | private: | ||
| 221 | boost::shared_ptr<ActuationModelAbstract> actuation_; //!< Actuation model | ||
| 222 | boost::shared_ptr<CostModelSum> costs_; //!< Cost model | ||
| 223 | boost::shared_ptr<ConstraintModelManager> constraints_; //!< Constraint model | ||
| 224 | pinocchio::ModelTpl<Scalar>& pinocchio_; //!< Pinocchio model | ||
| 225 | bool without_armature_; //!< Indicate if we have defined an armature | ||
| 226 | VectorXs armature_; //!< Armature vector | ||
| 227 | }; | ||
| 228 | |||
| 229 | template <typename _Scalar> | ||
| 230 | struct DifferentialActionDataFreeFwdDynamicsTpl | ||
| 231 | : public DifferentialActionDataAbstractTpl<_Scalar> { | ||
| 232 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 233 | typedef _Scalar Scalar; | ||
| 234 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 235 | typedef DifferentialActionDataAbstractTpl<Scalar> Base; | ||
| 236 | typedef JointDataAbstractTpl<Scalar> JointDataAbstract; | ||
| 237 | typedef DataCollectorJointActMultibodyTpl<Scalar> | ||
| 238 | DataCollectorJointActMultibody; | ||
| 239 | typedef typename MathBase::VectorXs VectorXs; | ||
| 240 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 241 | |||
| 242 | template <template <typename Scalar> class Model> | ||
| 243 | 10438 | explicit DifferentialActionDataFreeFwdDynamicsTpl(Model<Scalar>* const model) | |
| 244 | : Base(model), | ||
| 245 |
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10438 | pinocchio(pinocchio::DataTpl<Scalar>(model->get_pinocchio())), |
| 246 |
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20876 | multibody( |
| 247 |
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10438 | &pinocchio, model->get_actuation()->createData(), |
| 248 | boost::make_shared<JointDataAbstract>( | ||
| 249 | 10438 | model->get_state(), model->get_actuation(), model->get_nu())), | |
| 250 |
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10438 | costs(model->get_costs()->createData(&multibody)), |
| 251 |
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10438 | Minv(model->get_state()->get_nv(), model->get_state()->get_nv()), |
| 252 |
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10438 | u_drift(model->get_state()->get_nv()), |
| 253 |
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10438 | dtau_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()), |
| 254 |
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31314 | tmp_xstatic(model->get_state()->get_nx()) { |
| 255 |
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10438 | multibody.joint->dtau_du.diagonal().setOnes(); |
| 256 |
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10438 | costs->shareMemory(this); |
| 257 |
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10438 | if (model->get_constraints() != nullptr) { |
| 258 |
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6663 | constraints = model->get_constraints()->createData(&multibody); |
| 259 |
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6663 | constraints->shareMemory(this); |
| 260 | } | ||
| 261 |
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10438 | Minv.setZero(); |
| 262 |
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10438 | u_drift.setZero(); |
| 263 |
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10438 | dtau_dx.setZero(); |
| 264 |
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10438 | tmp_xstatic.setZero(); |
| 265 | 10438 | } | |
| 266 | |||
| 267 | pinocchio::DataTpl<Scalar> pinocchio; | ||
| 268 | DataCollectorJointActMultibody multibody; | ||
| 269 | boost::shared_ptr<CostDataSumTpl<Scalar> > costs; | ||
| 270 | boost::shared_ptr<ConstraintDataManagerTpl<Scalar> > constraints; | ||
| 271 | MatrixXs Minv; | ||
| 272 | VectorXs u_drift; | ||
| 273 | MatrixXs dtau_dx; | ||
| 274 | VectorXs tmp_xstatic; | ||
| 275 | |||
| 276 | using Base::cost; | ||
| 277 | using Base::Fu; | ||
| 278 | using Base::Fx; | ||
| 279 | using Base::Lu; | ||
| 280 | using Base::Luu; | ||
| 281 | using Base::Lx; | ||
| 282 | using Base::Lxu; | ||
| 283 | using Base::Lxx; | ||
| 284 | using Base::r; | ||
| 285 | using Base::xout; | ||
| 286 | }; | ||
| 287 | |||
| 288 | } // namespace crocoddyl | ||
| 289 | |||
| 290 | /* --- Details -------------------------------------------------------------- */ | ||
| 291 | /* --- Details -------------------------------------------------------------- */ | ||
| 292 | /* --- Details -------------------------------------------------------------- */ | ||
| 293 | #include <crocoddyl/multibody/actions/free-fwddyn.hxx> | ||
| 294 | |||
| 295 | #endif // CROCODDYL_MULTIBODY_ACTIONS_FREE_FWDDYN_HPP_ | ||
| 296 |