| Directory: | ./ |
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| File: | include/crocoddyl/multibody/actions/free-invdyn.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Branches: | 51 | 108 | 47.2% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, 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/multibody/data/multibody.hpp" | ||
| 20 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 21 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 22 | |||
| 23 | namespace crocoddyl { | ||
| 24 | |||
| 25 | /** | ||
| 26 | * @brief Differential action model for free inverse dynamics in multibody | ||
| 27 | * systems. | ||
| 28 | * | ||
| 29 | * This class implements forward kinematic with an inverse-dynamics computed | ||
| 30 | * using the Recursive Newton Euler Algorithm (RNEA). The stack of cost and | ||
| 31 | * constraint functions are implemented in `CostModelSumTpl` and | ||
| 32 | * `ConstraintModelManagerTpl`, respectively. The accelerations are the decision | ||
| 33 | * variables defined as the control inputs, and the under-actuation constraint | ||
| 34 | * is under the name `tau`, thus the user is not allowed to use it. | ||
| 35 | * | ||
| 36 | * | ||
| 37 | * \sa `DifferentialActionModelAbstractTpl`, `calc()`, `calcDiff()`, | ||
| 38 | * `createData()` | ||
| 39 | */ | ||
| 40 | template <typename _Scalar> | ||
| 41 | class DifferentialActionModelFreeInvDynamicsTpl | ||
| 42 | : public DifferentialActionModelAbstractTpl<_Scalar> { | ||
| 43 | public: | ||
| 44 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 45 | ✗ | CROCODDYL_DERIVED_CAST(DifferentialActionModelBase, | |
| 46 | DifferentialActionModelFreeInvDynamicsTpl) | ||
| 47 | |||
| 48 | typedef _Scalar Scalar; | ||
| 49 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 50 | typedef DifferentialActionModelAbstractTpl<Scalar> Base; | ||
| 51 | typedef DifferentialActionDataFreeInvDynamicsTpl<Scalar> Data; | ||
| 52 | typedef DifferentialActionDataAbstractTpl<Scalar> | ||
| 53 | DifferentialActionDataAbstract; | ||
| 54 | typedef CostModelSumTpl<Scalar> CostModelSum; | ||
| 55 | typedef ConstraintModelManagerTpl<Scalar> ConstraintModelManager; | ||
| 56 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 57 | typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract; | ||
| 58 | typedef ConstraintModelResidualTpl<Scalar> ConstraintModelResidual; | ||
| 59 | typedef typename MathBase::VectorXs VectorXs; | ||
| 60 | |||
| 61 | /** | ||
| 62 | * @brief Initialize the free inverse-dynamics action model | ||
| 63 | * | ||
| 64 | * It describes the kinematic evolution of the multibody system and computes | ||
| 65 | * the needed torques using inverse dynamics. | ||
| 66 | * | ||
| 67 | * @param[in] state State of the multibody system | ||
| 68 | * @param[in] actuation Actuation model | ||
| 69 | * @param[in] costs Cost model | ||
| 70 | */ | ||
| 71 | DifferentialActionModelFreeInvDynamicsTpl( | ||
| 72 | std::shared_ptr<StateMultibody> state, | ||
| 73 | std::shared_ptr<ActuationModelAbstract> actuation, | ||
| 74 | std::shared_ptr<CostModelSum> costs); | ||
| 75 | |||
| 76 | /** | ||
| 77 | * @brief Initialize the free inverse-dynamics action model | ||
| 78 | * | ||
| 79 | * @param[in] state State of the multibody system | ||
| 80 | * @param[in] actuation Actuation model | ||
| 81 | * @param[in] costs Cost model | ||
| 82 | * @param[in] constraints Constraints model | ||
| 83 | */ | ||
| 84 | DifferentialActionModelFreeInvDynamicsTpl( | ||
| 85 | std::shared_ptr<StateMultibody> state, | ||
| 86 | std::shared_ptr<ActuationModelAbstract> actuation, | ||
| 87 | std::shared_ptr<CostModelSum> costs, | ||
| 88 | std::shared_ptr<ConstraintModelManager> constraints); | ||
| 89 | 306 | virtual ~DifferentialActionModelFreeInvDynamicsTpl() = default; | |
| 90 | |||
| 91 | /** | ||
| 92 | * @brief Compute the system acceleration, cost value and constraint residuals | ||
| 93 | * | ||
| 94 | * It extracts the acceleration value from control vector and also computes | ||
| 95 | * the cost and constraints. | ||
| 96 | * | ||
| 97 | * @param[in] data Free inverse-dynamics data | ||
| 98 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 99 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 100 | */ | ||
| 101 | virtual void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data, | ||
| 102 | const Eigen::Ref<const VectorXs>& x, | ||
| 103 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 104 | |||
| 105 | /** | ||
| 106 | * @brief @copydoc Base::calc(const | ||
| 107 | * std::shared_ptr<DifferentialActionDataAbstract>& data, const | ||
| 108 | * Eigen::Ref<const VectorXs>& x) | ||
| 109 | */ | ||
| 110 | virtual void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data, | ||
| 111 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 112 | |||
| 113 | /** | ||
| 114 | * @brief Compute the derivatives of the dynamics, cost and constraint | ||
| 115 | * functions | ||
| 116 | * | ||
| 117 | * It computes the partial derivatives of the dynamical system and the cost | ||
| 118 | * and contraint functions. It assumes that `calc()` has been run first. This | ||
| 119 | * function builds a quadratic approximation of the time-continuous action | ||
| 120 | * model (i.e., dynamical system, cost and constraint functions). | ||
| 121 | * | ||
| 122 | * @param[in] data Free inverse-dynamics data | ||
| 123 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 124 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 125 | */ | ||
| 126 | virtual void calcDiff( | ||
| 127 | const std::shared_ptr<DifferentialActionDataAbstract>& data, | ||
| 128 | const Eigen::Ref<const VectorXs>& x, | ||
| 129 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 130 | |||
| 131 | /** | ||
| 132 | * @brief @copydoc Base::calcDiff(const | ||
| 133 | * std::shared_ptr<DifferentialActionDataAbstract>& data, const | ||
| 134 | * Eigen::Ref<const VectorXs>& x) | ||
| 135 | */ | ||
| 136 | virtual void calcDiff( | ||
| 137 | const std::shared_ptr<DifferentialActionDataAbstract>& data, | ||
| 138 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 139 | |||
| 140 | /** | ||
| 141 | * @brief Create the free inverse-dynamics data | ||
| 142 | * | ||
| 143 | * @return free inverse-dynamics data | ||
| 144 | */ | ||
| 145 | virtual std::shared_ptr<DifferentialActionDataAbstract> createData() override; | ||
| 146 | |||
| 147 | /** | ||
| 148 | * @brief Cast the free-invdyn model to a different scalar type. | ||
| 149 | * | ||
| 150 | * It is useful for operations requiring different precision or scalar types. | ||
| 151 | * | ||
| 152 | * @tparam NewScalar The new scalar type to cast to. | ||
| 153 | * @return DifferentialActionModelFreeInvDynamicsTpl<NewScalar> A | ||
| 154 | * differential-action model with the new scalar type. | ||
| 155 | */ | ||
| 156 | template <typename NewScalar> | ||
| 157 | DifferentialActionModelFreeInvDynamicsTpl<NewScalar> cast() const; | ||
| 158 | |||
| 159 | /** | ||
| 160 | * @brief Checks that a specific data belongs to the free inverse-dynamics | ||
| 161 | * model | ||
| 162 | */ | ||
| 163 | virtual bool checkData( | ||
| 164 | const std::shared_ptr<DifferentialActionDataAbstract>& data) override; | ||
| 165 | |||
| 166 | /** | ||
| 167 | * @brief Computes the quasic static commands | ||
| 168 | * | ||
| 169 | * The quasic static commands are the ones produced for a reference posture as | ||
| 170 | * an equilibrium point with zero acceleration, i.e., for | ||
| 171 | * \f$\mathbf{f^q_x}\delta\mathbf{q}+\mathbf{f_u}\delta\mathbf{u}=\mathbf{0}\f$ | ||
| 172 | * | ||
| 173 | * @param[in] data Free inverse-dynamics data | ||
| 174 | * @param[out] u Quasic-static commands | ||
| 175 | * @param[in] x State point (velocity has to be zero) | ||
| 176 | * @param[in] maxiter Maximum allowed number of iterations (default 100) | ||
| 177 | * @param[in] tol Tolerance (default 1e-9) | ||
| 178 | */ | ||
| 179 | virtual void quasiStatic( | ||
| 180 | const std::shared_ptr<DifferentialActionDataAbstract>& data, | ||
| 181 | Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>& x, | ||
| 182 | const std::size_t maxiter = 100, | ||
| 183 | const Scalar tol = Scalar(1e-9)) override; | ||
| 184 | |||
| 185 | /** | ||
| 186 | * @brief Return the number of inequality constraints | ||
| 187 | */ | ||
| 188 | virtual std::size_t get_ng() const override; | ||
| 189 | |||
| 190 | /** | ||
| 191 | * @brief Return the number of equality constraints | ||
| 192 | */ | ||
| 193 | virtual std::size_t get_nh() const override; | ||
| 194 | |||
| 195 | /** | ||
| 196 | * @brief Return the number of equality terminal constraints | ||
| 197 | */ | ||
| 198 | virtual std::size_t get_ng_T() const override; | ||
| 199 | |||
| 200 | /** | ||
| 201 | * @brief Return the number of equality terminal constraints | ||
| 202 | */ | ||
| 203 | virtual std::size_t get_nh_T() const override; | ||
| 204 | |||
| 205 | /** | ||
| 206 | * @brief Return the lower bound of the inequality constraints | ||
| 207 | */ | ||
| 208 | virtual const VectorXs& get_g_lb() const override; | ||
| 209 | |||
| 210 | /** | ||
| 211 | * @brief Return the upper bound of the inequality constraints | ||
| 212 | */ | ||
| 213 | virtual const VectorXs& get_g_ub() const override; | ||
| 214 | |||
| 215 | /** | ||
| 216 | * @brief Return the actuation model | ||
| 217 | */ | ||
| 218 | const std::shared_ptr<ActuationModelAbstract>& get_actuation() const; | ||
| 219 | |||
| 220 | /** | ||
| 221 | * @brief Return the cost model | ||
| 222 | */ | ||
| 223 | const std::shared_ptr<CostModelSum>& get_costs() const; | ||
| 224 | |||
| 225 | /** | ||
| 226 | * @brief Return the constraint model manager | ||
| 227 | */ | ||
| 228 | const std::shared_ptr<ConstraintModelManager>& get_constraints() const; | ||
| 229 | |||
| 230 | /** | ||
| 231 | * @brief Return the Pinocchio model | ||
| 232 | */ | ||
| 233 | pinocchio::ModelTpl<Scalar>& get_pinocchio() const; | ||
| 234 | |||
| 235 | /** | ||
| 236 | * @brief Print relevant information of the free inverse-dynamics model | ||
| 237 | * | ||
| 238 | * @param[out] os Output stream object | ||
| 239 | */ | ||
| 240 | virtual void print(std::ostream& os) const override; | ||
| 241 | |||
| 242 | protected: | ||
| 243 | using Base::g_lb_; //!< Lower bound of the inequality constraints | ||
| 244 | using Base::g_ub_; //!< Upper bound of the inequality constraints | ||
| 245 | using Base::ng_; //!< Number of inequality constraints | ||
| 246 | using Base::nh_; //!< Number of equality constraints | ||
| 247 | using Base::nu_; //!< Control dimension | ||
| 248 | using Base::state_; //!< Model of the state | ||
| 249 | |||
| 250 | private: | ||
| 251 | void init(const std::shared_ptr<StateMultibody>& state); | ||
| 252 | std::shared_ptr<ActuationModelAbstract> actuation_; //!< Actuation model | ||
| 253 | std::shared_ptr<CostModelSum> costs_; //!< Cost model | ||
| 254 | std::shared_ptr<ConstraintModelManager> constraints_; //!< Constraint model | ||
| 255 | pinocchio::ModelTpl<Scalar>* pinocchio_; //!< Pinocchio model | ||
| 256 | |||
| 257 | public: | ||
| 258 | /** | ||
| 259 | * @brief Actuation residual | ||
| 260 | * | ||
| 261 | * This residual function enforces the torques of under-actuated joints (e.g., | ||
| 262 | * floating-base joints) to be zero. We compute these torques and their | ||
| 263 | * derivatives using RNEA inside `DifferentialActionModelFreeInvDynamicsTpl`. | ||
| 264 | * | ||
| 265 | * As described in `ResidualModelAbstractTpl`, the residual value and its | ||
| 266 | * Jacobians are calculated by `calc` and `calcDiff`, respectively. | ||
| 267 | * | ||
| 268 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 269 | */ | ||
| 270 | class ResidualModelActuation : public ResidualModelAbstractTpl<_Scalar> { | ||
| 271 | public: | ||
| 272 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 273 | ✗ | CROCODDYL_INNER_DERIVED_CAST(ResidualModelBase, | |
| 274 | DifferentialActionModelFreeInvDynamicsTpl, | ||
| 275 | ResidualModelActuation) | ||
| 276 | |||
| 277 | typedef _Scalar Scalar; | ||
| 278 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 279 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 280 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 281 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 282 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 283 | typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract; | ||
| 284 | typedef typename MathBase::VectorXs VectorXs; | ||
| 285 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 286 | |||
| 287 | /** | ||
| 288 | * @brief Initialize the actuation residual model | ||
| 289 | * | ||
| 290 | * @param[in] state State of the multibody system | ||
| 291 | * @param[in] nu Dimension of the joint torques | ||
| 292 | */ | ||
| 293 | 51 | ResidualModelActuation(std::shared_ptr<StateMultibody> state, | |
| 294 | const std::size_t nu) | ||
| 295 | 51 | : Base(state, state->get_nv() - nu, state->get_nv(), true, true, true), | |
| 296 |
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102 | na_(nu) {} |
| 297 | 102 | virtual ~ResidualModelActuation() = default; | |
| 298 | |||
| 299 | /** | ||
| 300 | * @brief Compute the actuation residual | ||
| 301 | * | ||
| 302 | * @param[in] data Actuation residual data | ||
| 303 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 304 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nv+nu}\f$ | ||
| 305 | */ | ||
| 306 | 2311 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | |
| 307 | const Eigen::Ref<const VectorXs>&, | ||
| 308 | const Eigen::Ref<const VectorXs>&) override { | ||
| 309 | typename Data::ResidualDataActuation* d = | ||
| 310 | 2311 | static_cast<typename Data::ResidualDataActuation*>(data.get()); | |
| 311 | // Update the under-actuation set and residual | ||
| 312 | 2311 | std::size_t nrow = 0; | |
| 313 | 16177 | for (std::size_t k = 0; | |
| 314 |
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16177 | k < static_cast<std::size_t>(d->actuation->tau_set.size()); ++k) { |
| 315 |
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13866 | if (!d->actuation->tau_set[k]) { |
| 316 | 4622 | data->r(nrow) = d->pinocchio->tau(k); | |
| 317 | 4622 | nrow += 1; | |
| 318 | } | ||
| 319 | } | ||
| 320 | 2311 | } | |
| 321 | |||
| 322 | /** | ||
| 323 | * @brief @copydoc Base::calc(const std::shared_ptr<ResidualDataAbstract>& | ||
| 324 | * data, const Eigen::Ref<const VectorXs>& x) | ||
| 325 | */ | ||
| 326 | ✗ | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | |
| 327 | const Eigen::Ref<const VectorXs>&) override { | ||
| 328 | ✗ | data->r.setZero(); | |
| 329 | } | ||
| 330 | |||
| 331 | /** | ||
| 332 | * @brief Compute the derivatives of the actuation residual | ||
| 333 | * | ||
| 334 | * @param[in] data Actuation residual data | ||
| 335 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 336 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 337 | */ | ||
| 338 | 627 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | |
| 339 | const Eigen::Ref<const VectorXs>&, | ||
| 340 | const Eigen::Ref<const VectorXs>&) override { | ||
| 341 | typename Data::ResidualDataActuation* d = | ||
| 342 | 627 | static_cast<typename Data::ResidualDataActuation*>(data.get()); | |
| 343 | 627 | std::size_t nrow = 0; | |
| 344 | 627 | const std::size_t nv = state_->get_nv(); | |
| 345 |
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627 | d->dtau_dx.leftCols(nv) = d->pinocchio->dtau_dq; |
| 346 |
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627 | d->dtau_dx.rightCols(nv) = d->pinocchio->dtau_dv; |
| 347 | 627 | d->dtau_dx -= d->actuation->dtau_dx; | |
| 348 | 4389 | for (std::size_t k = 0; | |
| 349 |
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4389 | k < static_cast<std::size_t>(d->actuation->tau_set.size()); ++k) { |
| 350 |
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3762 | if (!d->actuation->tau_set[k]) { |
| 351 |
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1254 | d->Rx.row(nrow) = d->dtau_dx.row(k); |
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1254 | d->Ru.row(nrow) = d->pinocchio->M.row(k); |
| 353 | 1254 | nrow += 1; | |
| 354 | } | ||
| 355 | } | ||
| 356 | 627 | } | |
| 357 | |||
| 358 | /** | ||
| 359 | * @brief @copydoc Base::calcDiff(const | ||
| 360 | * std::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const | ||
| 361 | * VectorXs>& x) | ||
| 362 | */ | ||
| 363 | ✗ | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | |
| 364 | const Eigen::Ref<const VectorXs>&) override { | ||
| 365 | ✗ | data->Rx.setZero(); | |
| 366 | ✗ | data->Ru.setZero(); | |
| 367 | } | ||
| 368 | |||
| 369 | /** | ||
| 370 | * @brief Create the actuation residual data | ||
| 371 | * | ||
| 372 | * @return Actuation residual data | ||
| 373 | */ | ||
| 374 | 3230 | virtual std::shared_ptr<ResidualDataAbstract> createData( | |
| 375 | DataCollectorAbstract* const data) override { | ||
| 376 | return std::allocate_shared<typename Data::ResidualDataActuation>( | ||
| 377 | ✗ | Eigen::aligned_allocator<typename Data::ResidualDataActuation>(), | |
| 378 |
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3230 | this, data); |
| 379 | } | ||
| 380 | |||
| 381 | /** | ||
| 382 | * @brief Cast the actuation-residual model to a different scalar type. | ||
| 383 | * | ||
| 384 | * It is useful for operations requiring different precision or scalar | ||
| 385 | * types. | ||
| 386 | * | ||
| 387 | * @tparam NewScalar The new scalar type to cast to. | ||
| 388 | * @return typename | ||
| 389 | * DifferentialActionModelFreeInvDynamicsTpl<NewScalar>::ResidualModelActuation | ||
| 390 | * A residual model with the new scalar type. | ||
| 391 | */ | ||
| 392 | template <typename NewScalar> | ||
| 393 | typename DifferentialActionModelFreeInvDynamicsTpl< | ||
| 394 | NewScalar>::ResidualModelActuation | ||
| 395 | ✗ | cast() const { | |
| 396 | typedef typename DifferentialActionModelFreeInvDynamicsTpl< | ||
| 397 | NewScalar>::ResidualModelActuation ReturnType; | ||
| 398 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 399 | ✗ | ReturnType ret(std::static_pointer_cast<StateType>( | |
| 400 | ✗ | state_->template cast<NewScalar>()), | |
| 401 | ✗ | na_); | |
| 402 | ✗ | return ret; | |
| 403 | } | ||
| 404 | |||
| 405 | /** | ||
| 406 | * @brief Print relevant information of the actuation residual model | ||
| 407 | * | ||
| 408 | * @param[out] os Output stream object | ||
| 409 | */ | ||
| 410 | ✗ | virtual void print(std::ostream& os) const override { | |
| 411 | ✗ | os << "ResidualModelActuation {nx=" << state_->get_nx() | |
| 412 | ✗ | << ", ndx=" << state_->get_ndx() << ", nu=" << nu_ << ", na=" << na_ | |
| 413 | ✗ | << "}"; | |
| 414 | } | ||
| 415 | |||
| 416 | protected: | ||
| 417 | std::size_t na_; //!< Dimension of the joint torques | ||
| 418 | using Base::nu_; | ||
| 419 | using Base::state_; | ||
| 420 | }; | ||
| 421 | }; | ||
| 422 | |||
| 423 | template <typename _Scalar> | ||
| 424 | struct DifferentialActionDataFreeInvDynamicsTpl | ||
| 425 | : public DifferentialActionDataAbstractTpl<_Scalar> { | ||
| 426 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 427 | typedef _Scalar Scalar; | ||
| 428 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 429 | typedef DifferentialActionDataAbstractTpl<Scalar> Base; | ||
| 430 | typedef JointDataAbstractTpl<Scalar> JointDataAbstract; | ||
| 431 | typedef DataCollectorJointActMultibodyTpl<Scalar> | ||
| 432 | DataCollectorJointActMultibody; | ||
| 433 | typedef CostDataSumTpl<Scalar> CostDataSum; | ||
| 434 | typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager; | ||
| 435 | typedef typename MathBase::VectorXs VectorXs; | ||
| 436 | |||
| 437 | template <template <typename Scalar> class Model> | ||
| 438 | 9896 | explicit DifferentialActionDataFreeInvDynamicsTpl(Model<Scalar>* const model) | |
| 439 | : Base(model), | ||
| 440 |
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9896 | pinocchio(pinocchio::DataTpl<Scalar>(model->get_pinocchio())), |
| 441 |
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19792 | multibody( |
| 442 |
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9896 | &pinocchio, model->get_actuation()->createData(), |
| 443 | std::make_shared<JointDataAbstract>( | ||
| 444 |
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9896 | model->get_state(), model->get_actuation(), model->get_nu())), |
| 445 |
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9896 | costs(model->get_costs()->createData(&multibody)), |
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9896 | constraints(model->get_constraints()->createData(&multibody)), |
| 447 |
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19792 | tmp_xstatic(model->get_state()->get_nx()) { |
| 448 |
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9896 | const std::size_t nv = model->get_state()->get_nv(); |
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9896 | Fu.leftCols(nv).diagonal().setOnes(); |
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9896 | multibody.joint->da_du.leftCols(nv).diagonal().setOnes(); |
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9896 | costs->shareMemory(this); |
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9896 | constraints->shareMemory(this); |
| 453 |
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9896 | tmp_xstatic.setZero(); |
| 454 | 9896 | } | |
| 455 | 19788 | virtual ~DifferentialActionDataFreeInvDynamicsTpl() = default; | |
| 456 | |||
| 457 | pinocchio::DataTpl<Scalar> pinocchio; //!< Pinocchio data | ||
| 458 | DataCollectorJointActMultibody multibody; //!< Multibody data | ||
| 459 | std::shared_ptr<CostDataSum> costs; //!< Costs data | ||
| 460 | std::shared_ptr<ConstraintDataManager> constraints; //!< Constraints data | ||
| 461 | VectorXs | ||
| 462 | tmp_xstatic; //!< State point used for computing the quasi-static input | ||
| 463 | using Base::cost; | ||
| 464 | using Base::Fu; | ||
| 465 | using Base::Fx; | ||
| 466 | using Base::Lu; | ||
| 467 | using Base::Luu; | ||
| 468 | using Base::Lx; | ||
| 469 | using Base::Lxu; | ||
| 470 | using Base::Lxx; | ||
| 471 | using Base::r; | ||
| 472 | using Base::xout; | ||
| 473 | |||
| 474 | struct ResidualDataActuation : public ResidualDataAbstractTpl<_Scalar> { | ||
| 475 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 476 | |||
| 477 | typedef _Scalar Scalar; | ||
| 478 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 479 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 480 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 481 | typedef DataCollectorActMultibodyTpl<Scalar> DataCollectorActMultibody; | ||
| 482 | typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract; | ||
| 483 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 484 | |||
| 485 | template <template <typename Scalar> class Model> | ||
| 486 | 3232 | ResidualDataActuation(Model<Scalar>* const model, | |
| 487 | DataCollectorAbstract* const data) | ||
| 488 | : Base(model, data), | ||
| 489 |
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3232 | dtau_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()) { |
| 490 |
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3232 | dtau_dx.setZero(); |
| 491 | // Check that proper shared data has been passed | ||
| 492 | 3232 | DataCollectorActMultibody* d = | |
| 493 |
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3232 | dynamic_cast<DataCollectorActMultibody*>(shared); |
| 494 |
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3232 | if (d == NULL) { |
| 495 | ✗ | throw_pretty( | |
| 496 | "Invalid argument: the shared data should be derived from " | ||
| 497 | "DataCollectorActMultibody"); | ||
| 498 | } | ||
| 499 | |||
| 500 | // Avoids data casting at runtime | ||
| 501 | 3232 | pinocchio = d->pinocchio; | |
| 502 | 3232 | actuation = d->actuation; | |
| 503 | 3232 | } | |
| 504 | |||
| 505 | pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data | ||
| 506 | std::shared_ptr<ActuationDataAbstract> actuation; //!< Actuation data | ||
| 507 | MatrixXs dtau_dx; | ||
| 508 | using Base::r; | ||
| 509 | using Base::Ru; | ||
| 510 | using Base::Rx; | ||
| 511 | using Base::shared; | ||
| 512 | }; | ||
| 513 | }; | ||
| 514 | |||
| 515 | } // namespace crocoddyl | ||
| 516 | |||
| 517 | /* --- Details -------------------------------------------------------------- */ | ||
| 518 | /* --- Details -------------------------------------------------------------- */ | ||
| 519 | /* --- Details -------------------------------------------------------------- */ | ||
| 520 | #include <crocoddyl/multibody/actions/free-invdyn.hxx> | ||
| 521 | |||
| 522 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS( | ||
| 523 | crocoddyl::DifferentialActionModelFreeInvDynamicsTpl) | ||
| 524 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( | ||
| 525 | crocoddyl::DifferentialActionDataFreeInvDynamicsTpl) | ||
| 526 | |||
| 527 | #endif // CROCODDYL_MULTIBODY_ACTIONS_FREE_INVDYN_HPP_ | ||
| 528 |