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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, Heriot-Watt University, University of Edinburgh |
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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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#include "crocoddyl/core/constraints/residual.hpp" |
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namespace crocoddyl { |
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template <typename Scalar> |
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DifferentialActionModelFreeInvDynamicsTpl<Scalar>:: |
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DifferentialActionModelFreeInvDynamicsTpl( |
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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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: Base(state, state->get_nv(), costs->get_nr(), 0, |
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state->get_nv() - actuation->get_nu()), |
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actuation_(actuation), |
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costs_(costs), |
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constraints_( |
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std::make_shared<ConstraintModelManager>(state, state->get_nv())), |
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pinocchio_(state->get_pinocchio().get()) { |
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init(state); |
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} |
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template <typename Scalar> |
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DifferentialActionModelFreeInvDynamicsTpl<Scalar>:: |
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DifferentialActionModelFreeInvDynamicsTpl( |
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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, state->get_nv(), costs->get_nr(), constraints->get_ng(), |
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constraints->get_nh() + state->get_nv() - actuation->get_nu(), |
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constraints->get_ng_T(), constraints->get_nh_T()), |
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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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init(state); |
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} |
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template <typename Scalar> |
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void DifferentialActionModelFreeInvDynamicsTpl<Scalar>::init( |
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const std::shared_ptr<StateMultibody>& state) { |
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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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if (constraints_->get_nu() != nu_) { |
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throw_pretty("Invalid argument: " |
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<< "Constraints doesn't have the same control dimension (it " |
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"should be " + |
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std::to_string(nu_) + ")"); |
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} |
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VectorXs lb = |
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VectorXs::Constant(nu_, -std::numeric_limits<Scalar>::infinity()); |
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VectorXs ub = |
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VectorXs::Constant(nu_, std::numeric_limits<Scalar>::infinity()); |
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Base::set_u_lb(lb); |
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Base::set_u_ub(ub); |
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if (state->get_nv() - actuation_->get_nu() > 0) { |
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constraints_->addConstraint( |
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"tau", |
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std::make_shared<ConstraintModelResidual>( |
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state_, |
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std::make_shared<typename DifferentialActionModelFreeInvDynamicsTpl< |
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Scalar>::ResidualModelActuation>(state, actuation_->get_nu()), |
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false)); |
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} |
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} |
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template <typename Scalar> |
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void DifferentialActionModelFreeInvDynamicsTpl<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 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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d->xout = u; |
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pinocchio::rnea(*pinocchio_, d->pinocchio, q, v, u); |
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pinocchio::updateGlobalPlacements(*pinocchio_, d->pinocchio); |
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actuation_->commands(d->multibody.actuation, x, d->pinocchio.tau); |
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d->multibody.joint->a = u; |
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d->multibody.joint->tau = d->multibody.actuation->u; |
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actuation_->calc(d->multibody.actuation, x, d->multibody.joint->tau); |
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costs_->calc(d->costs, x, u); |
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d->cost = d->costs->cost; |
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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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template <typename Scalar> |
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void DifferentialActionModelFreeInvDynamicsTpl<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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d->constraints->resize(this, d, false); |
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constraints_->calc(d->constraints, x); |
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} |
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template <typename Scalar> |
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void DifferentialActionModelFreeInvDynamicsTpl<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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Data* d = static_cast<Data*>(data.get()); |
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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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pinocchio::computeRNEADerivatives(*pinocchio_, d->pinocchio, q, v, u); |
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d->pinocchio.M.template triangularView<Eigen::StrictlyLower>() = |
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d->pinocchio.M.template triangularView<Eigen::StrictlyUpper>() |
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.transpose(); |
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actuation_->calcDiff(d->multibody.actuation, x, d->multibody.joint->tau); |
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actuation_->torqueTransform(d->multibody.actuation, x, |
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d->multibody.joint->tau); |
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d->multibody.joint->dtau_dx.leftCols(nv).noalias() = |
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d->multibody.actuation->Mtau * d->pinocchio.dtau_dq; |
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d->multibody.joint->dtau_dx.rightCols(nv).noalias() = |
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d->multibody.actuation->Mtau * d->pinocchio.dtau_dv; |
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d->multibody.joint->dtau_du.noalias() = |
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d->multibody.actuation->Mtau * d->pinocchio.M; |
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costs_->calcDiff(d->costs, x, u); |
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constraints_->calcDiff(d->constraints, x, u); |
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} |
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template <typename Scalar> |
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void DifferentialActionModelFreeInvDynamicsTpl<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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constraints_->calcDiff(d->constraints, x); |
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} |
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template <typename Scalar> |
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std::shared_ptr<DifferentialActionDataAbstractTpl<Scalar> > |
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DifferentialActionModelFreeInvDynamicsTpl<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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DifferentialActionModelFreeInvDynamicsTpl<NewScalar> |
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DifferentialActionModelFreeInvDynamicsTpl<Scalar>::cast() const { |
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typedef DifferentialActionModelFreeInvDynamicsTpl<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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const std::shared_ptr<ConstraintType>& constraints = |
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std::make_shared<ConstraintType>( |
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constraints_->template cast<NewScalar>()); |
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if (state_->get_nv() - actuation_->get_nu() > 0) { |
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constraints->removeConstraint("tau"); |
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} |
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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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constraints); |
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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 DifferentialActionModelFreeInvDynamicsTpl<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 DifferentialActionModelFreeInvDynamicsTpl<Scalar>::quasiStatic( |
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const std::shared_ptr<DifferentialActionDataAbstract>&, |
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Eigen::Ref<VectorXs> u, const Eigen::Ref<const VectorXs>&, |
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const std::size_t, const Scalar) { |
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u.setZero(); |
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} |
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template <typename Scalar> |
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void DifferentialActionModelFreeInvDynamicsTpl<Scalar>::print( |
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std::ostream& os) const { |
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os << "DifferentialActionModelFreeInvDynamics {nx=" << state_->get_nx() |
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<< ", ndx=" << state_->get_ndx() << ", nu=" << nu_ << "}"; |
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} |
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template <typename Scalar> |
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std::size_t DifferentialActionModelFreeInvDynamicsTpl<Scalar>::get_ng() const { |
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if (constraints_ != nullptr) { |
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return constraints_->get_ng(); |
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} else { |
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return Base::get_ng(); |
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} |
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} |
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template <typename Scalar> |
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std::size_t DifferentialActionModelFreeInvDynamicsTpl<Scalar>::get_nh() const { |
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if (constraints_ != nullptr) { |
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return constraints_->get_nh(); |
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} else { |
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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 DifferentialActionModelFreeInvDynamicsTpl<Scalar>::get_ng_T() |
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const { |
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if (constraints_ != nullptr) { |
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return constraints_->get_ng_T(); |
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} else { |
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return Base::get_ng_T(); |
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} |
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} |
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template <typename Scalar> |
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std::size_t DifferentialActionModelFreeInvDynamicsTpl<Scalar>::get_nh_T() |
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const { |
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✗ |
if (constraints_ != nullptr) { |
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return constraints_->get_nh_T(); |
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} else { |
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return Base::get_nh_T(); |
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} |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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DifferentialActionModelFreeInvDynamicsTpl<Scalar>::get_g_lb() const { |
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if (constraints_ != nullptr) { |
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return constraints_->get_lb(); |
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} else { |
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return g_lb_; |
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} |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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DifferentialActionModelFreeInvDynamicsTpl<Scalar>::get_g_ub() const { |
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if (constraints_ != nullptr) { |
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return constraints_->get_ub(); |
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} else { |
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return g_lb_; |
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} |
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} |
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template <typename Scalar> |
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const std::shared_ptr<ActuationModelAbstractTpl<Scalar> >& |
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DifferentialActionModelFreeInvDynamicsTpl<Scalar>::get_actuation() const { |
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return actuation_; |
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} |
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|
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template <typename Scalar> |
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const std::shared_ptr<CostModelSumTpl<Scalar> >& |
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✗ |
DifferentialActionModelFreeInvDynamicsTpl<Scalar>::get_costs() const { |
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return costs_; |
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} |
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template <typename Scalar> |
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const std::shared_ptr<ConstraintModelManagerTpl<Scalar> >& |
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✗ |
DifferentialActionModelFreeInvDynamicsTpl<Scalar>::get_constraints() const { |
| 325 |
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✗ |
return constraints_; |
| 326 |
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} |
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| 328 |
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template <typename Scalar> |
| 329 |
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pinocchio::ModelTpl<Scalar>& |
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✗ |
DifferentialActionModelFreeInvDynamicsTpl<Scalar>::get_pinocchio() const { |
| 331 |
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✗ |
return *pinocchio_; |
| 332 |
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} |
| 333 |
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| 334 |
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} // namespace crocoddyl |
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