GCC Code Coverage Report

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2019-2025, 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			#ifndef CROCODDYL_MULTIBODY_ACTIONS_FREE_FWDDYN_HPP_
11			#define CROCODDYL_MULTIBODY_ACTIONS_FREE_FWDDYN_HPP_
12
13			#include "crocoddyl/core/actuation-base.hpp"
14			#include "crocoddyl/core/constraints/constraint-manager.hpp"
15			#include "crocoddyl/core/costs/cost-sum.hpp"
16			#include "crocoddyl/core/diff-action-base.hpp"
17			#include "crocoddyl/multibody/data/multibody.hpp"
18			#include "crocoddyl/multibody/fwd.hpp"
19			#include "crocoddyl/multibody/states/multibody.hpp"
20
21			namespace crocoddyl {
22
23			/**
24			* @brief Differential action model for free forward dynamics in multibody
25			* systems.
26			*
27			* This class implements free forward dynamics, i.e.,
28			* \f[
29			* \mathbf{M}\dot{\mathbf{v}} + \mathbf{h}(\mathbf{q},\mathbf{v}) =
30			* \boldsymbol{\tau}, \f] where \f$\mathbf{q}\in Q\f$,
31			* \f$\mathbf{v}\in\mathbb{R}^{nv}\f$ are the configuration point and
32			* generalized velocity (its tangent vector), respectively;
33			* \f$\boldsymbol{\tau}\f$ is the torque inputs and
34			* \f$\mathbf{h}(\mathbf{q},\mathbf{v})\f$ are the Coriolis effect and gravity
35			* field.
36			*
37			* The derivatives of the system acceleration is computed efficiently based on
38			* the analytical derivatives of Articulate Body Algorithm (ABA) as described in
39			* \cite carpentier-rss18.
40			*
41			* The stack of cost functions is implemented in `CostModelSumTpl`. The
42			* computation of the free forward dynamics and its derivatives are carrying out
43			* inside `calc()` and `calcDiff()` functions, respectively. It is also
44			* important to remark that `calcDiff()` computes the derivatives using the
45			* latest stored values by `calc()`. Thus, we need to run `calc()` first.
46			*
47			* \sa `DifferentialActionModelAbstractTpl`, `calc()`, `calcDiff()`,
48			* `createData()`
49			*/
50			template <typename _Scalar>
51			class DifferentialActionModelFreeFwdDynamicsTpl
52			: public DifferentialActionModelAbstractTpl<_Scalar> {
53			public:
54			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
55		✗	CROCODDYL_DERIVED_CAST(DifferentialActionModelBase,
56			DifferentialActionModelFreeFwdDynamicsTpl)
57
58			typedef _Scalar Scalar;
59			typedef DifferentialActionModelAbstractTpl<Scalar> Base;
60			typedef DifferentialActionDataFreeFwdDynamicsTpl<Scalar> Data;
61			typedef DifferentialActionDataAbstractTpl<Scalar>
62			DifferentialActionDataAbstract;
63			typedef StateMultibodyTpl<Scalar> StateMultibody;
64			typedef CostModelSumTpl<Scalar> CostModelSum;
65			typedef ConstraintModelManagerTpl<Scalar> ConstraintModelManager;
66			typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
67			typedef MathBaseTpl<Scalar> MathBase;
68			typedef typename MathBase::VectorXs VectorXs;
69			typedef typename MathBase::MatrixXs MatrixXs;
70
71			DifferentialActionModelFreeFwdDynamicsTpl(
72			std::shared_ptr<StateMultibody> state,
73			std::shared_ptr<ActuationModelAbstract> actuation,
74			std::shared_ptr<CostModelSum> costs,
75			std::shared_ptr<ConstraintModelManager> constraints = nullptr);
76		✗	virtual ~DifferentialActionModelFreeFwdDynamicsTpl() = default;
77
78			/**
79			* @brief Compute the system acceleration, and cost value
80			*
81			* It computes the system acceleration using the free forward-dynamics.
82			*
83			* @param[in] data Free forward-dynamics data
84			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
85			* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
86			*/
87			virtual void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
88			const Eigen::Ref<const VectorXs>& x,
89			const Eigen::Ref<const VectorXs>& u) override;
90
91			/**
92			* @brief @copydoc Base::calc(const
93			* std::shared_ptr<DifferentialActionDataAbstract>& data, const
94			* Eigen::Ref<const VectorXs>& x)
95			*/
96			virtual void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
97			const Eigen::Ref<const VectorXs>& x) override;
98
99			/**
100			* @brief Compute the derivatives of the contact dynamics, and cost function
101			*
102			* @param[in] data Free forward-dynamics data
103			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
104			* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
105			*/
106			virtual void calcDiff(
107			const std::shared_ptr<DifferentialActionDataAbstract>& data,
108			const Eigen::Ref<const VectorXs>& x,
109			const Eigen::Ref<const VectorXs>& u) override;
110
111			/**
112			* @brief @copydoc Base::calcDiff(const
113			* std::shared_ptr<DifferentialActionDataAbstract>& data, const
114			* Eigen::Ref<const VectorXs>& x)
115			*/
116			virtual void calcDiff(
117			const std::shared_ptr<DifferentialActionDataAbstract>& data,
118			const Eigen::Ref<const VectorXs>& x) override;
119
120			/**
121			* @brief Create the free forward-dynamics data
122			*
123			* @return free forward-dynamics data
124			*/
125			virtual std::shared_ptr<DifferentialActionDataAbstract> createData() override;
126
127			/**
128			* @brief Cast the free-fwddyn model to a different scalar type.
129			*
130			* It is useful for operations requiring different precision or scalar types.
131			*
132			* @tparam NewScalar The new scalar type to cast to.
133			* @return DifferentialActionModelFreeFwdDynamicsTpl<NewScalar> A
134			* differential-action model with the new scalar type.
135			*/
136			template <typename NewScalar>
137			DifferentialActionModelFreeFwdDynamicsTpl<NewScalar> cast() const;
138
139			/**
140			* @brief Check that the given data belongs to the free forward-dynamics data
141			*/
142			virtual bool checkData(
143			const std::shared_ptr<DifferentialActionDataAbstract>& data) override;
144
145			/**
146			* @brief @copydoc Base::quasiStatic()
147			*/
148			virtual void quasiStatic(
149			const std::shared_ptr<DifferentialActionDataAbstract>& data,
150			Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x,
151			const std::size_t maxiter = 100,
152			const Scalar tol = Scalar(1e-9)) override;
153
154			/**
155			* @brief Return the number of inequality constraints
156			*/
157			virtual std::size_t get_ng() const override;
158
159			/**
160			* @brief Return the number of equality constraints
161			*/
162			virtual std::size_t get_nh() const override;
163
164			/**
165			* @brief Return the number of equality terminal constraints
166			*/
167			virtual std::size_t get_ng_T() const override;
168
169			/**
170			* @brief Return the number of equality terminal constraints
171			*/
172			virtual std::size_t get_nh_T() const override;
173
174			/**
175			* @brief Return the lower bound of the inequality constraints
176			*/
177			virtual const VectorXs& get_g_lb() const override;
178
179			/**
180			* @brief Return the upper bound of the inequality constraints
181			*/
182			virtual const VectorXs& get_g_ub() const override;
183
184			/**
185			* @brief Return the actuation model
186			*/
187			const std::shared_ptr<ActuationModelAbstract>& get_actuation() const;
188
189			/**
190			* @brief Return the cost model
191			*/
192			const std::shared_ptr<CostModelSum>& get_costs() const;
193
194			/**
195			* @brief Return the constraint model manager
196			*/
197			const std::shared_ptr<ConstraintModelManager>& get_constraints() const;
198
199			/**
200			* @brief Return the Pinocchio model
201			*/
202			pinocchio::ModelTpl<Scalar>& get_pinocchio() const;
203
204			/**
205			* @brief Return the armature vector
206			*/
207			const VectorXs& get_armature() const;
208
209			/**
210			* @brief Modify the armature vector
211			*/
212			void set_armature(const VectorXs& armature);
213
214			/**
215			* @brief Print relevant information of the free forward-dynamics model
216			*
217			* @param[out] os Output stream object
218			*/
219			virtual void print(std::ostream& os) const override;
220
221			protected:
222			using Base::g_lb_; //!< Lower bound of the inequality constraints
223			using Base::g_ub_; //!< Upper bound of the inequality constraints
224			using Base::nu_; //!< Control dimension
225			using Base::state_; //!< Model of the state
226
227			private:
228			std::shared_ptr<ActuationModelAbstract> actuation_; //!< Actuation model
229			std::shared_ptr<CostModelSum> costs_; //!< Cost model
230			std::shared_ptr<ConstraintModelManager> constraints_; //!< Constraint model
231			pinocchio::ModelTpl<Scalar>* pinocchio_; //!< Pinocchio model
232			bool without_armature_; //!< Indicate if we have defined an armature
233			VectorXs armature_; //!< Armature vector
234			};
235
236			template <typename _Scalar>
237			struct DifferentialActionDataFreeFwdDynamicsTpl
238			: public DifferentialActionDataAbstractTpl<_Scalar> {
239			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
240			typedef _Scalar Scalar;
241			typedef MathBaseTpl<Scalar> MathBase;
242			typedef DifferentialActionDataAbstractTpl<Scalar> Base;
243			typedef JointDataAbstractTpl<Scalar> JointDataAbstract;
244			typedef DataCollectorJointActMultibodyTpl<Scalar>
245			DataCollectorJointActMultibody;
246			typedef typename MathBase::VectorXs VectorXs;
247			typedef typename MathBase::MatrixXs MatrixXs;
248
249			template <template <typename Scalar> class Model>
250		✗	explicit DifferentialActionDataFreeFwdDynamicsTpl(Model<Scalar>* const model)
251			: Base(model),
252		✗	pinocchio(pinocchio::DataTpl<Scalar>(model->get_pinocchio())),
253		✗	multibody(
254		✗	&pinocchio, model->get_actuation()->createData(),
255			std::make_shared<JointDataAbstract>(
256		✗	model->get_state(), model->get_actuation(), model->get_nu())),
257		✗	costs(model->get_costs()->createData(&multibody)),
258		✗	Minv(model->get_state()->get_nv(), model->get_state()->get_nv()),
259		✗	u_drift(model->get_state()->get_nv()),
260		✗	dtau_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()),
261		✗	tmp_xstatic(model->get_state()->get_nx()) {
262		✗	multibody.joint->dtau_du.diagonal().setOnes();
263		✗	costs->shareMemory(this);
264		✗	if (model->get_constraints() != nullptr) {
265		✗	constraints = model->get_constraints()->createData(&multibody);
266		✗	constraints->shareMemory(this);
267			}
268		✗	Minv.setZero();
269		✗	u_drift.setZero();
270		✗	dtau_dx.setZero();
271		✗	tmp_xstatic.setZero();
272		✗	}
273		✗	virtual ~DifferentialActionDataFreeFwdDynamicsTpl() = default;
274
275			pinocchio::DataTpl<Scalar> pinocchio;
276			DataCollectorJointActMultibody multibody;
277			std::shared_ptr<CostDataSumTpl<Scalar> > costs;
278			std::shared_ptr<ConstraintDataManagerTpl<Scalar> > constraints;
279			MatrixXs Minv;
280			VectorXs u_drift;
281			MatrixXs dtau_dx;
282			VectorXs tmp_xstatic;
283
284			using Base::cost;
285			using Base::Fu;
286			using Base::Fx;
287			using Base::Lu;
288			using Base::Luu;
289			using Base::Lx;
290			using Base::Lxu;
291			using Base::Lxx;
292			using Base::r;
293			using Base::xout;
294			};
295
296			} // namespace crocoddyl
297
298			/* --- Details -------------------------------------------------------------- */
299			/* --- Details -------------------------------------------------------------- */
300			/* --- Details -------------------------------------------------------------- */
301			#include <crocoddyl/multibody/actions/free-fwddyn.hxx>
302
303			CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
304			crocoddyl::DifferentialActionModelFreeFwdDynamicsTpl)
305			CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
306			crocoddyl::DifferentialActionDataFreeFwdDynamicsTpl)
307
308			#endif // CROCODDYL_MULTIBODY_ACTIONS_FREE_FWDDYN_HPP_
309