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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, |
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// Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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namespace crocoddyl { |
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template <typename Scalar> |
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DifferentialActionModelFreeFwdDynamicsTpl<Scalar>:: |
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DifferentialActionModelFreeFwdDynamicsTpl( |
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std::shared_ptr<StateMultibody> state, |
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std::shared_ptr<ActuationModelAbstract> actuation, |
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std::shared_ptr<CostModelSum> costs, |
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std::shared_ptr<ConstraintModelManager> constraints) |
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: Base(state, actuation->get_nu(), costs->get_nr(), |
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constraints != nullptr ? constraints->get_ng() : 0, |
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constraints != nullptr ? constraints->get_nh() : 0, |
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constraints != nullptr ? constraints->get_ng_T() : 0, |
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constraints != nullptr ? constraints->get_nh_T() : 0), |
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actuation_(actuation), |
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costs_(costs), |
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constraints_(constraints), |
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pinocchio_(state->get_pinocchio().get()), |
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without_armature_(true), |
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armature_(VectorXs::Zero(state->get_nv())) { |
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if (costs_->get_nu() != nu_) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "Costs doesn't have the same control dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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Base::set_u_lb(Scalar(-1.) * pinocchio_->effortLimit.tail(nu_)); |
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Base::set_u_ub(Scalar(+1.) * pinocchio_->effortLimit.tail(nu_)); |
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} |
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template <typename Scalar> |
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void DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::calc( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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Data* d = static_cast<Data*>(data.get()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
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x.head(state_->get_nq()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = |
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x.tail(state_->get_nv()); |
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actuation_->calc(d->multibody.actuation, x, u); |
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// Computing the dynamics using ABA or manually for armature case |
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if (without_armature_) { |
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d->xout = pinocchio::aba(*pinocchio_, d->pinocchio, q, v, |
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d->multibody.actuation->tau); |
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pinocchio::updateGlobalPlacements(*pinocchio_, d->pinocchio); |
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} else { |
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pinocchio::computeAllTerms(*pinocchio_, d->pinocchio, q, v); |
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d->pinocchio.M.diagonal() += armature_; |
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pinocchio::cholesky::decompose(*pinocchio_, d->pinocchio); |
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d->Minv.setZero(); |
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pinocchio::cholesky::computeMinv(*pinocchio_, d->pinocchio, d->Minv); |
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d->u_drift = d->multibody.actuation->tau - d->pinocchio.nle; |
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d->xout.noalias() = d->Minv * d->u_drift; |
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} |
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d->multibody.joint->a = d->xout; |
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d->multibody.joint->tau = u; |
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costs_->calc(d->costs, x, u); |
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d->cost = d->costs->cost; |
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if (constraints_ != nullptr) { |
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d->constraints->resize(this, d); |
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constraints_->calc(d->constraints, x, u); |
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} |
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} |
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template <typename Scalar> |
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void DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::calc( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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Data* d = static_cast<Data*>(data.get()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
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x.head(state_->get_nq()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = |
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x.tail(state_->get_nv()); |
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pinocchio::computeAllTerms(*pinocchio_, d->pinocchio, q, v); |
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costs_->calc(d->costs, x); |
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d->cost = d->costs->cost; |
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if (constraints_ != nullptr) { |
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d->constraints->resize(this, d, false); |
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constraints_->calc(d->constraints, x); |
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} |
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} |
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template <typename Scalar> |
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void DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::calcDiff( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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if (static_cast<std::size_t>(u.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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const std::size_t nv = state_->get_nv(); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
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x.head(state_->get_nq()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = |
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x.tail(nv); |
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Data* d = static_cast<Data*>(data.get()); |
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actuation_->calcDiff(d->multibody.actuation, x, u); |
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// Computing the dynamics derivatives |
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if (without_armature_) { |
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pinocchio::computeABADerivatives( |
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*pinocchio_, d->pinocchio, q, v, d->multibody.actuation->tau, |
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d->Fx.leftCols(nv), d->Fx.rightCols(nv), d->pinocchio.Minv); |
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d->Fx.noalias() += d->pinocchio.Minv * d->multibody.actuation->dtau_dx; |
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d->Fu.noalias() = d->pinocchio.Minv * d->multibody.actuation->dtau_du; |
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} else { |
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pinocchio::computeRNEADerivatives(*pinocchio_, d->pinocchio, q, v, d->xout); |
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d->dtau_dx.leftCols(nv) = |
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d->multibody.actuation->dtau_dx.leftCols(nv) - d->pinocchio.dtau_dq; |
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d->dtau_dx.rightCols(nv) = |
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d->multibody.actuation->dtau_dx.rightCols(nv) - d->pinocchio.dtau_dv; |
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d->Fx.noalias() = d->Minv * d->dtau_dx; |
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d->Fu.noalias() = d->Minv * d->multibody.actuation->dtau_du; |
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} |
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d->multibody.joint->da_dx = d->Fx; |
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d->multibody.joint->da_du = d->Fu; |
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costs_->calcDiff(d->costs, x, u); |
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if (constraints_ != nullptr) { |
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constraints_->calcDiff(d->constraints, x, u); |
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} |
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} |
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template <typename Scalar> |
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void DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::calcDiff( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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Data* d = static_cast<Data*>(data.get()); |
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costs_->calcDiff(d->costs, x); |
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if (constraints_ != nullptr) { |
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constraints_->calcDiff(d->constraints, x); |
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} |
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} |
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template <typename Scalar> |
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std::shared_ptr<DifferentialActionDataAbstractTpl<Scalar> > |
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DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::createData() { |
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return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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DifferentialActionModelFreeFwdDynamicsTpl<NewScalar> |
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DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::cast() const { |
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typedef DifferentialActionModelFreeFwdDynamicsTpl<NewScalar> ReturnType; |
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typedef StateMultibodyTpl<NewScalar> StateType; |
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typedef CostModelSumTpl<NewScalar> CostType; |
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typedef ConstraintModelManagerTpl<NewScalar> ConstraintType; |
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✗ |
if (constraints_) { |
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ReturnType ret( |
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std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), |
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actuation_->template cast<NewScalar>(), |
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std::make_shared<CostType>(costs_->template cast<NewScalar>()), |
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std::make_shared<ConstraintType>( |
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✗ |
constraints_->template cast<NewScalar>())); |
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return ret; |
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} else { |
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ReturnType ret( |
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std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), |
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actuation_->template cast<NewScalar>(), |
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std::make_shared<CostType>(costs_->template cast<NewScalar>())); |
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return ret; |
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} |
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} |
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template <typename Scalar> |
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bool DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::checkData( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data) { |
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std::shared_ptr<Data> d = std::dynamic_pointer_cast<Data>(data); |
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✗ |
if (d != NULL) { |
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return true; |
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} else { |
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return false; |
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} |
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} |
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template <typename Scalar> |
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✗ |
void DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::quasiStatic( |
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const std::shared_ptr<DifferentialActionDataAbstract>& data, |
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Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x, |
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const std::size_t, const Scalar) { |
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✗ |
if (static_cast<std::size_t>(u.size()) != nu_) { |
| 227 |
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✗ |
throw_pretty( |
| 228 |
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"Invalid argument: " << "u has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
| 230 |
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} |
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✗ |
if (static_cast<std::size_t>(x.size()) != state_->get_nx()) { |
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throw_pretty( |
| 233 |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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// Static casting the data |
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✗ |
Data* d = static_cast<Data*>(data.get()); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
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✗ |
x.head(state_->get_nq()); |
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| 241 |
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✗ |
const std::size_t nq = state_->get_nq(); |
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const std::size_t nv = state_->get_nv(); |
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| 244 |
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✗ |
d->tmp_xstatic.head(nq) = q; |
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✗ |
d->tmp_xstatic.tail(nv).setZero(); |
| 246 |
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✗ |
u.setZero(); |
| 247 |
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| 248 |
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✗ |
pinocchio::rnea(*pinocchio_, d->pinocchio, q, d->tmp_xstatic.tail(nv), |
| 249 |
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✗ |
d->tmp_xstatic.tail(nv)); |
| 250 |
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✗ |
actuation_->calc(d->multibody.actuation, d->tmp_xstatic, u); |
| 251 |
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✗ |
actuation_->calcDiff(d->multibody.actuation, d->tmp_xstatic, u); |
| 252 |
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| 253 |
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✗ |
u.noalias() = |
| 254 |
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✗ |
pseudoInverse(d->multibody.actuation->dtau_du) * d->pinocchio.tau; |
| 255 |
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✗ |
d->pinocchio.tau.setZero(); |
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} |
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template <typename Scalar> |
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✗ |
std::size_t DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::get_ng() const { |
| 260 |
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✗ |
if (constraints_ != nullptr) { |
| 261 |
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✗ |
return constraints_->get_ng(); |
| 262 |
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} else { |
| 263 |
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✗ |
return Base::get_ng(); |
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} |
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} |
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template <typename Scalar> |
| 268 |
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✗ |
std::size_t DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::get_nh() const { |
| 269 |
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✗ |
if (constraints_ != nullptr) { |
| 270 |
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✗ |
return constraints_->get_nh(); |
| 271 |
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} else { |
| 272 |
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✗ |
return Base::get_nh(); |
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} |
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} |
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template <typename Scalar> |
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✗ |
std::size_t DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::get_ng_T() |
| 278 |
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const { |
| 279 |
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✗ |
if (constraints_ != nullptr) { |
| 280 |
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✗ |
return constraints_->get_ng_T(); |
| 281 |
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} else { |
| 282 |
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✗ |
return Base::get_ng_T(); |
| 283 |
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} |
| 284 |
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} |
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template <typename Scalar> |
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✗ |
std::size_t DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::get_nh_T() |
| 288 |
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const { |
| 289 |
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✗ |
if (constraints_ != nullptr) { |
| 290 |
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✗ |
return constraints_->get_nh_T(); |
| 291 |
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} else { |
| 292 |
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✗ |
return Base::get_nh_T(); |
| 293 |
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} |
| 294 |
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} |
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template <typename Scalar> |
| 297 |
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const typename MathBaseTpl<Scalar>::VectorXs& |
| 298 |
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✗ |
DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::get_g_lb() const { |
| 299 |
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✗ |
if (constraints_ != nullptr) { |
| 300 |
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✗ |
return constraints_->get_lb(); |
| 301 |
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} else { |
| 302 |
|
✗ |
return g_lb_; |
| 303 |
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} |
| 304 |
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} |
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template <typename Scalar> |
| 307 |
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const typename MathBaseTpl<Scalar>::VectorXs& |
| 308 |
|
✗ |
DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::get_g_ub() const { |
| 309 |
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✗ |
if (constraints_ != nullptr) { |
| 310 |
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✗ |
return constraints_->get_ub(); |
| 311 |
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} else { |
| 312 |
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✗ |
return g_lb_; |
| 313 |
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} |
| 314 |
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} |
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template <typename Scalar> |
| 317 |
|
✗ |
void DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::print( |
| 318 |
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std::ostream& os) const { |
| 319 |
|
✗ |
os << "DifferentialActionModelFreeFwdDynamics {nx=" << state_->get_nx() |
| 320 |
|
✗ |
<< ", ndx=" << state_->get_ndx() << ", nu=" << nu_ << "}"; |
| 321 |
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} |
| 322 |
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| 323 |
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template <typename Scalar> |
| 324 |
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pinocchio::ModelTpl<Scalar>& |
| 325 |
|
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DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::get_pinocchio() const { |
| 326 |
|
✗ |
return *pinocchio_; |
| 327 |
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} |
| 328 |
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| 329 |
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template <typename Scalar> |
| 330 |
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const std::shared_ptr<ActuationModelAbstractTpl<Scalar> >& |
| 331 |
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✗ |
DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::get_actuation() const { |
| 332 |
|
✗ |
return actuation_; |
| 333 |
|
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} |
| 334 |
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|
| 335 |
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template <typename Scalar> |
| 336 |
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const std::shared_ptr<CostModelSumTpl<Scalar> >& |
| 337 |
|
✗ |
DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::get_costs() const { |
| 338 |
|
✗ |
return costs_; |
| 339 |
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} |
| 340 |
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| 341 |
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template <typename Scalar> |
| 342 |
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const std::shared_ptr<ConstraintModelManagerTpl<Scalar> >& |
| 343 |
|
✗ |
DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::get_constraints() const { |
| 344 |
|
✗ |
return constraints_; |
| 345 |
|
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} |
| 346 |
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| 347 |
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template <typename Scalar> |
| 348 |
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const typename MathBaseTpl<Scalar>::VectorXs& |
| 349 |
|
✗ |
DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::get_armature() const { |
| 350 |
|
✗ |
return armature_; |
| 351 |
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} |
| 352 |
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| 353 |
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template <typename Scalar> |
| 354 |
|
✗ |
void DifferentialActionModelFreeFwdDynamicsTpl<Scalar>::set_armature( |
| 355 |
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const VectorXs& armature) { |
| 356 |
|
✗ |
if (static_cast<std::size_t>(armature.size()) != state_->get_nv()) { |
| 357 |
|
✗ |
throw_pretty("Invalid argument: " |
| 358 |
|
|
<< "The armature dimension is wrong (it should be " + |
| 359 |
|
|
std::to_string(state_->get_nv()) + ")"); |
| 360 |
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} |
| 361 |
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|
| 362 |
|
✗ |
armature_ = armature; |
| 363 |
|
✗ |
without_armature_ = false; |
| 364 |
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} |
| 365 |
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|
| 366 |
|
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} // namespace crocoddyl |
| 367 |
|
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