| Directory: | ./ |
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| File: | include/crocoddyl/multibody/actuations/full.hpp |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 24 | 27 | 88.9% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_MULTIBODY_ACTUATIONS_FULL_HPP_ | ||
| 10 | #define CROCODDYL_MULTIBODY_ACTUATIONS_FULL_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/actuation-base.hpp" | ||
| 13 | #include "crocoddyl/core/state-base.hpp" | ||
| 14 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | |||
| 18 | /** | ||
| 19 | * @brief Full actuation model | ||
| 20 | * | ||
| 21 | * This actuation model applies input controls for all the `nv` dimensions of | ||
| 22 | * the system. | ||
| 23 | * | ||
| 24 | * Both actuation and Jacobians are computed analytically by `calc` and | ||
| 25 | * `calcDiff`, respectively. | ||
| 26 | * | ||
| 27 | * \sa `ActuationModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 28 | */ | ||
| 29 | template <typename _Scalar> | ||
| 30 | class ActuationModelFullTpl : public ActuationModelAbstractTpl<_Scalar> { | ||
| 31 | public: | ||
| 32 | typedef _Scalar Scalar; | ||
| 33 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 34 | typedef ActuationModelAbstractTpl<Scalar> Base; | ||
| 35 | typedef ActuationDataAbstractTpl<Scalar> Data; | ||
| 36 | typedef StateAbstractTpl<Scalar> StateAbstract; | ||
| 37 | typedef typename MathBase::VectorXs VectorXs; | ||
| 38 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 39 | |||
| 40 | /** | ||
| 41 | * @brief Initialize the full actuation model | ||
| 42 | * | ||
| 43 | * @param[in] state State of the dynamical system | ||
| 44 | */ | ||
| 45 | 875 | explicit ActuationModelFullTpl(boost::shared_ptr<StateAbstract> state) | |
| 46 | 875 | : Base(state, state->get_nv()) {}; | |
| 47 | 1754 | virtual ~ActuationModelFullTpl() {}; | |
| 48 | |||
| 49 | /** | ||
| 50 | * @brief Compute the full actuation | ||
| 51 | * | ||
| 52 | * @param[in] data Full actuation data | ||
| 53 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 54 | * @param[in] u Joint torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 55 | */ | ||
| 56 | 41280 | virtual void calc(const boost::shared_ptr<Data>& data, | |
| 57 | const Eigen::Ref<const VectorXs>& /*x*/, | ||
| 58 | const Eigen::Ref<const VectorXs>& u) { | ||
| 59 |
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41280 | if (static_cast<std::size_t>(u.size()) != nu_) { |
| 60 | ✗ | throw_pretty( | |
| 61 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 62 | std::to_string(nu_) + ")"); | ||
| 63 | } | ||
| 64 | 41280 | data->tau = u; | |
| 65 | 41280 | }; | |
| 66 | |||
| 67 | /** | ||
| 68 | * @brief Compute the Jacobians of the full actuation model | ||
| 69 | * | ||
| 70 | * @param[in] data Full actuation data | ||
| 71 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 72 | * @param[in] u Joint torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 73 | */ | ||
| 74 | #ifndef NDEBUG | ||
| 75 | 12039 | virtual void calcDiff(const boost::shared_ptr<Data>& data, | |
| 76 | const Eigen::Ref<const VectorXs>& /*x*/, | ||
| 77 | const Eigen::Ref<const VectorXs>&) { | ||
| 78 | #else | ||
| 79 | virtual void calcDiff(const boost::shared_ptr<Data>&, | ||
| 80 | const Eigen::Ref<const VectorXs>& /*x*/, | ||
| 81 | const Eigen::Ref<const VectorXs>&) { | ||
| 82 | #endif | ||
| 83 | // The derivatives has constant values which were set in createData. | ||
| 84 |
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12039 | assert_pretty(data->dtau_dx.isZero(), "dtau_dx has wrong value"); |
| 85 |
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12039 | assert_pretty(MatrixXs(data->dtau_du) |
| 86 | .isApprox(MatrixXs::Identity(state_->get_nv(), nu_)), | ||
| 87 | "dtau_du has wrong value"); | ||
| 88 | 12039 | }; | |
| 89 | |||
| 90 | 4994 | virtual void commands(const boost::shared_ptr<Data>& data, | |
| 91 | const Eigen::Ref<const VectorXs>&, | ||
| 92 | const Eigen::Ref<const VectorXs>& tau) { | ||
| 93 |
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4994 | if (static_cast<std::size_t>(tau.size()) != nu_) { |
| 94 | ✗ | throw_pretty( | |
| 95 | "Invalid argument: " << "tau has wrong dimension (it should be " + | ||
| 96 | std::to_string(nu_) + ")"); | ||
| 97 | } | ||
| 98 | 4994 | data->u = tau; | |
| 99 | 4994 | } | |
| 100 | |||
| 101 | #ifndef NDEBUG | ||
| 102 | 1268 | virtual void torqueTransform(const boost::shared_ptr<Data>& data, | |
| 103 | const Eigen::Ref<const VectorXs>&, | ||
| 104 | const Eigen::Ref<const VectorXs>&) { | ||
| 105 | #else | ||
| 106 | virtual void torqueTransform(const boost::shared_ptr<Data>&, | ||
| 107 | const Eigen::Ref<const VectorXs>&, | ||
| 108 | const Eigen::Ref<const VectorXs>&) { | ||
| 109 | #endif | ||
| 110 | // The torque transform has constant values which were set in createData. | ||
| 111 |
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1268 | assert_pretty(MatrixXs(data->Mtau).isApprox(MatrixXs::Identity(nu_, nu_)), |
| 112 | "Mtau has wrong value"); | ||
| 113 | 1268 | } | |
| 114 | |||
| 115 | /** | ||
| 116 | * @brief Create the full actuation data | ||
| 117 | * | ||
| 118 | * @param[in] data shared data (it should be of type DataCollectorContactTpl) | ||
| 119 | * @return the cost data. | ||
| 120 | */ | ||
| 121 | 34456 | virtual boost::shared_ptr<Data> createData() { | |
| 122 |
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34456 | boost::shared_ptr<Data> data = |
| 123 | 34456 | boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 124 |
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34456 | data->dtau_du.diagonal().setOnes(); |
| 125 |
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34456 | data->Mtau.setIdentity(); |
| 126 | 34456 | return data; | |
| 127 | ✗ | }; | |
| 128 | |||
| 129 | protected: | ||
| 130 | using Base::nu_; | ||
| 131 | using Base::state_; | ||
| 132 | }; | ||
| 133 | |||
| 134 | } // namespace crocoddyl | ||
| 135 | |||
| 136 | #endif // CROCODDYL_MULTIBODY_ACTUATIONS_FULL_HPP_ | ||
| 137 |