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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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#ifndef CROCODDYL_MULTIBODY_ACTUATIONS_FULL_HPP_ |
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#define CROCODDYL_MULTIBODY_ACTUATIONS_FULL_HPP_ |
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#include "crocoddyl/core/actuation-base.hpp" |
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#include "crocoddyl/core/state-base.hpp" |
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#include "crocoddyl/multibody/fwd.hpp" |
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namespace crocoddyl { |
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/** |
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* @brief Full actuation model |
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* |
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* This actuation model applies input controls for all the `nv` dimensions of |
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* the system. |
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* |
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* Both actuation and Jacobians are computed analytically by `calc` and |
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* `calcDiff`, respectively. |
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* |
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* \sa `ActuationModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` |
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*/ |
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template <typename _Scalar> |
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class ActuationModelFullTpl : public ActuationModelAbstractTpl<_Scalar> { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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CROCODDYL_DERIVED_CAST(ActuationModelBase, ActuationModelFullTpl) |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ActuationModelAbstractTpl<Scalar> Base; |
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typedef ActuationDataAbstractTpl<Scalar> Data; |
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typedef StateAbstractTpl<Scalar> StateAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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/** |
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* @brief Initialize the full actuation model |
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* |
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* @param[in] state State of the dynamical system |
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*/ |
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explicit ActuationModelFullTpl(std::shared_ptr<StateAbstract> state) |
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: Base(state, state->get_nv()) {}; |
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virtual ~ActuationModelFullTpl() = default; |
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/** |
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* @brief Compute the full actuation |
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* |
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* @param[in] data Full actuation data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Joint torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calc(const std::shared_ptr<Data>& data, |
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const Eigen::Ref<const VectorXs>& /*x*/, |
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const Eigen::Ref<const VectorXs>& u) override { |
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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->tau = u; |
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}; |
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/** |
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* @brief Compute the Jacobians of the full actuation model |
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* |
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* @param[in] data Full actuation data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Joint torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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#ifndef NDEBUG |
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virtual void calcDiff(const std::shared_ptr<Data>& data, |
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const Eigen::Ref<const VectorXs>& /*x*/, |
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const Eigen::Ref<const VectorXs>&) override { |
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#else |
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virtual void calcDiff(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>& /*x*/, |
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const Eigen::Ref<const VectorXs>&) override { |
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#endif |
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// The derivatives has constant values which were set in createData. |
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assert_pretty(data->dtau_dx.isZero(), "dtau_dx has wrong value"); |
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assert_pretty(MatrixXs(data->dtau_du) |
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.isApprox(MatrixXs::Identity(state_->get_nv(), nu_)), |
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"dtau_du has wrong value"); |
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}; |
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virtual void commands(const std::shared_ptr<Data>& data, |
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const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>& tau) override { |
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if (static_cast<std::size_t>(tau.size()) != nu_) { |
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throw_pretty( |
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"Invalid argument: " << "tau has wrong dimension (it should be " + |
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std::to_string(nu_) + ")"); |
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} |
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data->u = tau; |
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} |
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#ifndef NDEBUG |
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virtual void torqueTransform(const std::shared_ptr<Data>& data, |
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const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&) override { |
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#else |
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virtual void torqueTransform(const std::shared_ptr<Data>&, |
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const Eigen::Ref<const VectorXs>&, |
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const Eigen::Ref<const VectorXs>&) override { |
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#endif |
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// The torque transform has constant values which were set in createData. |
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assert_pretty(MatrixXs(data->Mtau).isApprox(MatrixXs::Identity(nu_, nu_)), |
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"Mtau has wrong value"); |
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} |
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/** |
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* @brief Create the full actuation data |
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* |
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* @param[in] data shared data (it should be of type DataCollectorContactTpl) |
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* @return the cost data. |
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*/ |
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virtual std::shared_ptr<Data> createData() override { |
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std::shared_ptr<Data> data = |
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std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); |
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data->dtau_du.diagonal().setOnes(); |
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data->Mtau.setIdentity(); |
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return data; |
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}; |
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template <typename NewScalar> |
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ActuationModelFullTpl<NewScalar> cast() const { |
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typedef ActuationModelFullTpl<NewScalar> ReturnType; |
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ReturnType ret(state_->template cast<NewScalar>()); |
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return ret; |
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} |
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/** |
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* @brief Print relevant information of the joint-effort residual |
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* |
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* @param[out] os Output stream object |
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*/ |
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virtual void print(std::ostream& os) const override { |
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os << "ActuationModelFull {nu=" << nu_ << ", nv=" << state_->get_nv() |
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<< "}"; |
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} |
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protected: |
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using Base::nu_; |
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using Base::state_; |
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}; |
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} // namespace crocoddyl |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActuationModelFullTpl) |
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#endif // CROCODDYL_MULTIBODY_ACTUATIONS_FULL_HPP_ |
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