GCC Code Coverage Report

Directory: ./
File: include/crocoddyl/multibody/actions/free-invdyn.hpp
Date: 2025-02-24 23:41:29
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Branches: 36 72 50.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2024, Heriot-Watt University, University of Edinburgh
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 #ifndef CROCODDYL_MULTIBODY_ACTIONS_FREE_INVDYN_HPP_
10 #define CROCODDYL_MULTIBODY_ACTIONS_FREE_INVDYN_HPP_
11
12 #include <stdexcept>
13
14 #include "crocoddyl/core/actuation-base.hpp"
15 #include "crocoddyl/core/constraints/constraint-manager.hpp"
16 #include "crocoddyl/core/costs/cost-sum.hpp"
17 #include "crocoddyl/core/diff-action-base.hpp"
18 #include "crocoddyl/core/residual-base.hpp"
19 #include "crocoddyl/core/utils/exception.hpp"
20 #include "crocoddyl/multibody/data/multibody.hpp"
21 #include "crocoddyl/multibody/fwd.hpp"
22 #include "crocoddyl/multibody/states/multibody.hpp"
23
24 namespace crocoddyl {
25
26 /**
27 * @brief Differential action model for free inverse dynamics in multibody
28 * systems.
29 *
30 * This class implements forward kinematic with an inverse-dynamics computed
31 * using the Recursive Newton Euler Algorithm (RNEA). The stack of cost and
32 * constraint functions are implemented in `CostModelSumTpl` and
33 * `ConstraintModelManagerTpl`, respectively. The accelerations are the decision
34 * variables defined as the control inputs, and the under-actuation constraint
35 * is under the name `tau`, thus the user is not allowed to use it.
36 *
37 *
38 * \sa `DifferentialActionModelAbstractTpl`, `calc()`, `calcDiff()`,
39 * `createData()`
40 */
41 template <typename _Scalar>
42 class DifferentialActionModelFreeInvDynamicsTpl
43 : public DifferentialActionModelAbstractTpl<_Scalar> {
44 public:
45 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
46
47 typedef _Scalar Scalar;
48 typedef MathBaseTpl<Scalar> MathBase;
49 typedef DifferentialActionModelAbstractTpl<Scalar> Base;
50 typedef DifferentialActionDataFreeInvDynamicsTpl<Scalar> Data;
51 typedef DifferentialActionDataAbstractTpl<Scalar>
52 DifferentialActionDataAbstract;
53 typedef CostModelSumTpl<Scalar> CostModelSum;
54 typedef ConstraintModelManagerTpl<Scalar> ConstraintModelManager;
55 typedef StateMultibodyTpl<Scalar> StateMultibody;
56 typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
57 typedef ConstraintModelResidualTpl<Scalar> ConstraintModelResidual;
58 typedef typename MathBase::VectorXs VectorXs;
59
60 /**
61 * @brief Initialize the free inverse-dynamics action model
62 *
63 * It describes the kinematic evolution of the multibody system and computes
64 * the needed torques using inverse dynamics.
65 *
66 * @param[in] state State of the multibody system
67 * @param[in] actuation Actuation model
68 * @param[in] costs Cost model
69 */
70 DifferentialActionModelFreeInvDynamicsTpl(
71 std::shared_ptr<StateMultibody> state,
72 std::shared_ptr<ActuationModelAbstract> actuation,
73 std::shared_ptr<CostModelSum> costs);
74
75 /**
76 * @brief Initialize the free inverse-dynamics action model
77 *
78 * @param[in] state State of the multibody system
79 * @param[in] actuation Actuation model
80 * @param[in] costs Cost model
81 * @param[in] constraints Constraints model
82 */
83 DifferentialActionModelFreeInvDynamicsTpl(
84 std::shared_ptr<StateMultibody> state,
85 std::shared_ptr<ActuationModelAbstract> actuation,
86 std::shared_ptr<CostModelSum> costs,
87 std::shared_ptr<ConstraintModelManager> constraints);
88 virtual ~DifferentialActionModelFreeInvDynamicsTpl();
89
90 /**
91 * @brief Compute the system acceleration, cost value and constraint residuals
92 *
93 * It extracts the acceleration value from control vector and also computes
94 * the cost and constraints.
95 *
96 * @param[in] data Free inverse-dynamics data
97 * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
98 * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
99 */
100 virtual void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
101 const Eigen::Ref<const VectorXs>& x,
102 const Eigen::Ref<const VectorXs>& u);
103
104 /**
105 * @brief @copydoc Base::calc(const
106 * std::shared_ptr<DifferentialActionDataAbstract>& data, const
107 * Eigen::Ref<const VectorXs>& x)
108 */
109 virtual void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
110 const Eigen::Ref<const VectorXs>& x);
111
112 /**
113 * @brief Compute the derivatives of the dynamics, cost and constraint
114 * functions
115 *
116 * It computes the partial derivatives of the dynamical system and the cost
117 * and contraint functions. It assumes that `calc()` has been run first. This
118 * function builds a quadratic approximation of the time-continuous action
119 * model (i.e., dynamical system, cost and constraint functions).
120 *
121 * @param[in] data Free inverse-dynamics data
122 * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
123 * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
124 */
125 virtual void calcDiff(
126 const std::shared_ptr<DifferentialActionDataAbstract>& data,
127 const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u);
128
129 /**
130 * @brief @copydoc Base::calcDiff(const
131 * std::shared_ptr<DifferentialActionDataAbstract>& data, const
132 * Eigen::Ref<const VectorXs>& x)
133 */
134 virtual void calcDiff(
135 const std::shared_ptr<DifferentialActionDataAbstract>& data,
136 const Eigen::Ref<const VectorXs>& x);
137
138 /**
139 * @brief Create the free inverse-dynamics data
140 *
141 * @return free inverse-dynamics data
142 */
143 virtual std::shared_ptr<DifferentialActionDataAbstract> createData();
144
145 /**
146 * @brief Checks that a specific data belongs to the free inverse-dynamics
147 * model
148 */
149 virtual bool checkData(
150 const std::shared_ptr<DifferentialActionDataAbstract>& data);
151
152 /**
153 * @brief Computes the quasic static commands
154 *
155 * The quasic static commands are the ones produced for a reference posture as
156 * an equilibrium point with zero acceleration, i.e., for
157 * \f$\mathbf{f^q_x}\delta\mathbf{q}+\mathbf{f_u}\delta\mathbf{u}=\mathbf{0}\f$
158 *
159 * @param[in] data Free inverse-dynamics data
160 * @param[out] u Quasic-static commands
161 * @param[in] x State point (velocity has to be zero)
162 * @param[in] maxiter Maximum allowed number of iterations (default 100)
163 * @param[in] tol Tolerance (default 1e-9)
164 */
165 virtual void quasiStatic(
166 const std::shared_ptr<DifferentialActionDataAbstract>& data,
167 Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x,
168 const std::size_t maxiter = 100, const Scalar tol = Scalar(1e-9));
169
170 /**
171 * @brief Return the number of inequality constraints
172 */
173 virtual std::size_t get_ng() const;
174
175 /**
176 * @brief Return the number of equality constraints
177 */
178 virtual std::size_t get_nh() const;
179
180 /**
181 * @brief Return the number of equality terminal constraints
182 */
183 virtual std::size_t get_ng_T() const;
184
185 /**
186 * @brief Return the number of equality terminal constraints
187 */
188 virtual std::size_t get_nh_T() const;
189
190 /**
191 * @brief Return the lower bound of the inequality constraints
192 */
193 virtual const VectorXs& get_g_lb() const;
194
195 /**
196 * @brief Return the upper bound of the inequality constraints
197 */
198 virtual const VectorXs& get_g_ub() const;
199
200 /**
201 * @brief Return the actuation model
202 */
203 const std::shared_ptr<ActuationModelAbstract>& get_actuation() const;
204
205 /**
206 * @brief Return the cost model
207 */
208 const std::shared_ptr<CostModelSum>& get_costs() const;
209
210 /**
211 * @brief Return the constraint model manager
212 */
213 const std::shared_ptr<ConstraintModelManager>& get_constraints() const;
214
215 /**
216 * @brief Return the Pinocchio model
217 */
218 pinocchio::ModelTpl<Scalar>& get_pinocchio() const;
219
220 /**
221 * @brief Print relevant information of the free inverse-dynamics model
222 *
223 * @param[out] os Output stream object
224 */
225 virtual void print(std::ostream& os) const;
226
227 protected:
228 using Base::g_lb_; //!< Lower bound of the inequality constraints
229 using Base::g_ub_; //!< Upper bound of the inequality constraints
230 using Base::ng_; //!< Number of inequality constraints
231 using Base::nh_; //!< Number of equality constraints
232 using Base::nu_; //!< Control dimension
233 using Base::state_; //!< Model of the state
234
235 private:
236 void init(const std::shared_ptr<StateMultibody>& state);
237 std::shared_ptr<ActuationModelAbstract> actuation_; //!< Actuation model
238 std::shared_ptr<CostModelSum> costs_; //!< Cost model
239 std::shared_ptr<ConstraintModelManager> constraints_; //!< Constraint model
240 pinocchio::ModelTpl<Scalar>& pinocchio_; //!< Pinocchio model
241
242 public:
243 /**
244 * @brief Actuation residual
245 *
246 * This residual function enforces the torques of under-actuated joints (e.g.,
247 * floating-base joints) to be zero. We compute these torques and their
248 * derivatives using RNEA inside `DifferentialActionModelFreeInvDynamicsTpl`.
249 *
250 * As described in `ResidualModelAbstractTpl`, the residual value and its
251 * Jacobians are calculated by `calc` and `calcDiff`, respectively.
252 *
253 * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()`
254 */
255 class ResidualModelActuation : public ResidualModelAbstractTpl<_Scalar> {
256 public:
257 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
258
259 typedef _Scalar Scalar;
260 typedef MathBaseTpl<Scalar> MathBase;
261 typedef ResidualModelAbstractTpl<Scalar> Base;
262 typedef StateMultibodyTpl<Scalar> StateMultibody;
263 typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
264 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
265 typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
266 typedef typename MathBase::VectorXs VectorXs;
267 typedef typename MathBase::MatrixXs MatrixXs;
268
269 /**
270 * @brief Initialize the actuation residual model
271 *
272 * @param[in] state State of the multibody system
273 * @param[in] nu Dimension of the joint torques
274 */
275 51 ResidualModelActuation(std::shared_ptr<StateMultibody> state,
276 const std::size_t nu)
277 51 : Base(state, state->get_nv() - nu, state->get_nv(), true, true, true),
278
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 102 na_(nu) {}
279 102 virtual ~ResidualModelActuation() {}
280
281 /**
282 * @brief Compute the actuation residual
283 *
284 * @param[in] data Actuation residual data
285 * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
286 * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nv+nu}\f$
287 */
288 2311 virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
289 const Eigen::Ref<const VectorXs>&,
290 const Eigen::Ref<const VectorXs>&) {
291 typename Data::ResidualDataActuation* d =
292 2311 static_cast<typename Data::ResidualDataActuation*>(data.get());
293 // Update the under-actuation set and residual
294 2311 std::size_t nrow = 0;
295 16177 for (std::size_t k = 0;
296
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 16177 k < static_cast<std::size_t>(d->actuation->tau_set.size()); ++k) {
297
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 13866 if (!d->actuation->tau_set[k]) {
298 4622 data->r(nrow) = d->pinocchio->tau(k);
299 4622 nrow += 1;
300 }
301 }
302 2311 }
303
304 /**
305 * @brief @copydoc Base::calc(const std::shared_ptr<ResidualDataAbstract>&
306 * data, const Eigen::Ref<const VectorXs>& x)
307 */
308 ✗ virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
309 const Eigen::Ref<const VectorXs>&) {
310 ✗ data->r.setZero();
311 }
312
313 /**
314 * @brief Compute the derivatives of the actuation residual
315 *
316 * @param[in] data Actuation residual data
317 * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
318 * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
319 */
320 627 virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
321 const Eigen::Ref<const VectorXs>&,
322 const Eigen::Ref<const VectorXs>&) {
323 typename Data::ResidualDataActuation* d =
324 627 static_cast<typename Data::ResidualDataActuation*>(data.get());
325 627 std::size_t nrow = 0;
326 627 const std::size_t nv = state_->get_nv();
327
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 627 d->dtau_dx.leftCols(nv) = d->pinocchio->dtau_dq;
328
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 627 d->dtau_dx.rightCols(nv) = d->pinocchio->dtau_dv;
329 627 d->dtau_dx -= d->actuation->dtau_dx;
330 4389 for (std::size_t k = 0;
331
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 4389 k < static_cast<std::size_t>(d->actuation->tau_set.size()); ++k) {
332
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 3762 if (!d->actuation->tau_set[k]) {
333
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 1254 d->Rx.row(nrow) = d->dtau_dx.row(k);
334
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 1254 d->Ru.row(nrow) = d->pinocchio->M.row(k);
335 1254 nrow += 1;
336 }
337 }
338 627 }
339
340 /**
341 * @brief @copydoc Base::calcDiff(const
342 * std::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const
343 * VectorXs>& x)
344 */
345 ✗ virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
346 const Eigen::Ref<const VectorXs>&) {
347 ✗ data->Rx.setZero();
348 ✗ data->Ru.setZero();
349 }
350
351 /**
352 * @brief Create the actuation residual data
353 *
354 * @return Actuation residual data
355 */
356 3230 virtual std::shared_ptr<ResidualDataAbstract> createData(
357 DataCollectorAbstract* const data) {
358 return std::allocate_shared<typename Data::ResidualDataActuation>(
359 ✗ Eigen::aligned_allocator<typename Data::ResidualDataActuation>(),
360
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 3230 this, data);
361 }
362
363 /**
364 * @brief Print relevant information of the actuation residual model
365 *
366 * @param[out] os Output stream object
367 */
368 ✗ virtual void print(std::ostream& os) const {
369 ✗ os << "ResidualModelActuation {nx=" << state_->get_nx()
370 ✗ << ", ndx=" << state_->get_ndx() << ", nu=" << nu_ << ", na=" << na_
371 ✗ << "}";
372 }
373
374 protected:
375 std::size_t na_; //!< Dimension of the joint torques
376 using Base::nu_;
377 using Base::state_;
378 };
379 };
380
381 template <typename _Scalar>
382 struct DifferentialActionDataFreeInvDynamicsTpl
383 : public DifferentialActionDataAbstractTpl<_Scalar> {
384 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
385 typedef _Scalar Scalar;
386 typedef MathBaseTpl<Scalar> MathBase;
387 typedef DifferentialActionDataAbstractTpl<Scalar> Base;
388 typedef JointDataAbstractTpl<Scalar> JointDataAbstract;
389 typedef DataCollectorJointActMultibodyTpl<Scalar>
390 DataCollectorJointActMultibody;
391 typedef CostDataSumTpl<Scalar> CostDataSum;
392 typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager;
393 typedef typename MathBase::VectorXs VectorXs;
394
395 template <template <typename Scalar> class Model>
396 9894 explicit DifferentialActionDataFreeInvDynamicsTpl(Model<Scalar>* const model)
397 : Base(model),
398
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 9894 pinocchio(pinocchio::DataTpl<Scalar>(model->get_pinocchio())),
399
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 19788 multibody(
400
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 9894 &pinocchio, model->get_actuation()->createData(),
401 std::make_shared<JointDataAbstract>(
402 9894 model->get_state(), model->get_actuation(), model->get_nu())),
403
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 9894 costs(model->get_costs()->createData(&multibody)),
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 9894 constraints(model->get_constraints()->createData(&multibody)),
405
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 19788 tmp_xstatic(model->get_state()->get_nx()) {
406 9894 const std::size_t nv = model->get_state()->get_nv();
407
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410
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411
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412 9894 }
413
414 pinocchio::DataTpl<Scalar> pinocchio; //!< Pinocchio data
415 DataCollectorJointActMultibody multibody; //!< Multibody data
416 std::shared_ptr<CostDataSum> costs; //!< Costs data
417 std::shared_ptr<ConstraintDataManager> constraints; //!< Constraints data
418 VectorXs
419 tmp_xstatic; //!< State point used for computing the quasi-static input
420 using Base::cost;
421 using Base::Fu;
422 using Base::Fx;
423 using Base::Lu;
424 using Base::Luu;
425 using Base::Lx;
426 using Base::Lxu;
427 using Base::Lxx;
428 using Base::r;
429 using Base::xout;
430
431 struct ResidualDataActuation : public ResidualDataAbstractTpl<_Scalar> {
432 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
433
434 typedef _Scalar Scalar;
435 typedef MathBaseTpl<Scalar> MathBase;
436 typedef ResidualDataAbstractTpl<Scalar> Base;
437 typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
438 typedef DataCollectorActMultibodyTpl<Scalar> DataCollectorActMultibody;
439 typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract;
440 typedef typename MathBase::MatrixXs MatrixXs;
441
442 template <template <typename Scalar> class Model>
443 3230 ResidualDataActuation(Model<Scalar>* const model,
444 DataCollectorAbstract* const data)
445 : Base(model, data),
446
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 3230 dtau_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()) {
447
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 3230 dtau_dx.setZero();
448 // Check that proper shared data has been passed
449 3230 DataCollectorActMultibody* d =
450
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 3230 dynamic_cast<DataCollectorActMultibody*>(shared);
451
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 3230 if (d == NULL) {
452 ✗ throw_pretty(
453 "Invalid argument: the shared data should be derived from "
454 "DataCollectorActMultibody");
455 }
456
457 // Avoids data casting at runtime
458 3230 pinocchio = d->pinocchio;
459 3230 actuation = d->actuation;
460 3230 }
461
462 pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data
463 std::shared_ptr<ActuationDataAbstract> actuation; //!< Actuation data
464 MatrixXs dtau_dx;
465 using Base::r;
466 using Base::Ru;
467 using Base::Rx;
468 using Base::shared;
469 };
470 };
471
472 } // namespace crocoddyl
473
474 /* --- Details -------------------------------------------------------------- */
475 /* --- Details -------------------------------------------------------------- */
476 /* --- Details -------------------------------------------------------------- */
477 #include <crocoddyl/multibody/actions/free-invdyn.hxx>
478
479 #endif // CROCODDYL_MULTIBODY_ACTIONS_FREE_INVDYN_HPP_
480