| Directory: | ./ |
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| File: | include/crocoddyl/multibody/actuations/full.hpp |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 28 | 34 | 82.4% |
| Branches: | 17 | 90 | 18.9% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_MULTIBODY_ACTUATIONS_FULL_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_ACTUATIONS_FULL_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/actuation-base.hpp" | ||
| 14 | #include "crocoddyl/core/state-base.hpp" | ||
| 15 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | |||
| 19 | /** | ||
| 20 | * @brief Full actuation model | ||
| 21 | * | ||
| 22 | * This actuation model applies input controls for all the `nv` dimensions of | ||
| 23 | * the system. | ||
| 24 | * | ||
| 25 | * Both actuation and Jacobians are computed analytically by `calc` and | ||
| 26 | * `calcDiff`, respectively. | ||
| 27 | * | ||
| 28 | * \sa `ActuationModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 29 | */ | ||
| 30 | template <typename _Scalar> | ||
| 31 | class ActuationModelFullTpl : public ActuationModelAbstractTpl<_Scalar> { | ||
| 32 | public: | ||
| 33 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 34 | 240 | CROCODDYL_DERIVED_CAST(ActuationModelBase, ActuationModelFullTpl) | |
| 35 | |||
| 36 | typedef _Scalar Scalar; | ||
| 37 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 38 | typedef ActuationModelAbstractTpl<Scalar> Base; | ||
| 39 | typedef ActuationDataAbstractTpl<Scalar> Data; | ||
| 40 | typedef StateAbstractTpl<Scalar> StateAbstract; | ||
| 41 | typedef typename MathBase::VectorXs VectorXs; | ||
| 42 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 43 | |||
| 44 | /** | ||
| 45 | * @brief Initialize the full actuation model | ||
| 46 | * | ||
| 47 | * @param[in] state State of the dynamical system | ||
| 48 | */ | ||
| 49 | 905 | explicit ActuationModelFullTpl(std::shared_ptr<StateAbstract> state) | |
| 50 |
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905 | : Base(state, state->get_nv()) {}; |
| 51 | 1934 | virtual ~ActuationModelFullTpl() = default; | |
| 52 | |||
| 53 | /** | ||
| 54 | * @brief Compute the full actuation | ||
| 55 | * | ||
| 56 | * @param[in] data Full actuation data | ||
| 57 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 58 | * @param[in] u Joint torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 59 | */ | ||
| 60 | 39802 | virtual void calc(const std::shared_ptr<Data>& data, | |
| 61 | const Eigen::Ref<const VectorXs>& /*x*/, | ||
| 62 | const Eigen::Ref<const VectorXs>& u) override { | ||
| 63 |
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39802 | if (static_cast<std::size_t>(u.size()) != nu_) { |
| 64 | ✗ | throw_pretty( | |
| 65 | "Invalid argument: " << "u has wrong dimension (it should be " + | ||
| 66 | std::to_string(nu_) + ")"); | ||
| 67 | } | ||
| 68 | 39802 | data->tau = u; | |
| 69 | 39802 | }; | |
| 70 | |||
| 71 | /** | ||
| 72 | * @brief Compute the Jacobians of the full actuation model | ||
| 73 | * | ||
| 74 | * @param[in] data Full actuation data | ||
| 75 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 76 | * @param[in] u Joint torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 77 | */ | ||
| 78 | #ifndef NDEBUG | ||
| 79 | 11789 | virtual void calcDiff(const std::shared_ptr<Data>& data, | |
| 80 | const Eigen::Ref<const VectorXs>& /*x*/, | ||
| 81 | const Eigen::Ref<const VectorXs>&) override { | ||
| 82 | #else | ||
| 83 | virtual void calcDiff(const std::shared_ptr<Data>&, | ||
| 84 | const Eigen::Ref<const VectorXs>& /*x*/, | ||
| 85 | const Eigen::Ref<const VectorXs>&) override { | ||
| 86 | #endif | ||
| 87 | // The derivatives has constant values which were set in createData. | ||
| 88 |
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11789 | assert_pretty(data->dtau_dx.isZero(), "dtau_dx has wrong value"); |
| 89 |
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11789 | assert_pretty(MatrixXs(data->dtau_du) |
| 90 | .isApprox(MatrixXs::Identity(state_->get_nv(), nu_)), | ||
| 91 | "dtau_du has wrong value"); | ||
| 92 | 11789 | }; | |
| 93 | |||
| 94 | 5001 | virtual void commands(const std::shared_ptr<Data>& data, | |
| 95 | const Eigen::Ref<const VectorXs>&, | ||
| 96 | const Eigen::Ref<const VectorXs>& tau) override { | ||
| 97 |
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5001 | if (static_cast<std::size_t>(tau.size()) != nu_) { |
| 98 | ✗ | throw_pretty( | |
| 99 | "Invalid argument: " << "tau has wrong dimension (it should be " + | ||
| 100 | std::to_string(nu_) + ")"); | ||
| 101 | } | ||
| 102 | 5001 | data->u = tau; | |
| 103 | 5001 | } | |
| 104 | |||
| 105 | #ifndef NDEBUG | ||
| 106 | 1275 | virtual void torqueTransform(const std::shared_ptr<Data>& data, | |
| 107 | const Eigen::Ref<const VectorXs>&, | ||
| 108 | const Eigen::Ref<const VectorXs>&) override { | ||
| 109 | #else | ||
| 110 | virtual void torqueTransform(const std::shared_ptr<Data>&, | ||
| 111 | const Eigen::Ref<const VectorXs>&, | ||
| 112 | const Eigen::Ref<const VectorXs>&) override { | ||
| 113 | #endif | ||
| 114 | // The torque transform has constant values which were set in createData. | ||
| 115 |
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1275 | assert_pretty(MatrixXs(data->Mtau).isApprox(MatrixXs::Identity(nu_, nu_)), |
| 116 | "Mtau has wrong value"); | ||
| 117 | 1275 | } | |
| 118 | |||
| 119 | /** | ||
| 120 | * @brief Create the full actuation data | ||
| 121 | * | ||
| 122 | * @param[in] data shared data (it should be of type DataCollectorContactTpl) | ||
| 123 | * @return the cost data. | ||
| 124 | */ | ||
| 125 | 34154 | virtual std::shared_ptr<Data> createData() override { | |
| 126 |
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34154 | std::shared_ptr<Data> data = |
| 127 | 34154 | std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this); | |
| 128 |
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34154 | data->dtau_du.diagonal().setOnes(); |
| 129 |
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34154 | data->Mtau.setIdentity(); |
| 130 | 34154 | return data; | |
| 131 | ✗ | }; | |
| 132 | |||
| 133 | template <typename NewScalar> | ||
| 134 | 60 | ActuationModelFullTpl<NewScalar> cast() const { | |
| 135 | typedef ActuationModelFullTpl<NewScalar> ReturnType; | ||
| 136 |
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60 | ReturnType ret(state_->template cast<NewScalar>()); |
| 137 | 60 | return ret; | |
| 138 | } | ||
| 139 | |||
| 140 | /** | ||
| 141 | * @brief Print relevant information of the joint-effort residual | ||
| 142 | * | ||
| 143 | * @param[out] os Output stream object | ||
| 144 | */ | ||
| 145 | ✗ | virtual void print(std::ostream& os) const override { | |
| 146 | ✗ | os << "ActuationModelFull {nu=" << nu_ << ", nv=" << state_->get_nv() | |
| 147 | ✗ | << "}"; | |
| 148 | } | ||
| 149 | |||
| 150 | protected: | ||
| 151 | using Base::nu_; | ||
| 152 | using Base::state_; | ||
| 153 | }; | ||
| 154 | |||
| 155 | } // namespace crocoddyl | ||
| 156 | |||
| 157 | extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI | ||
| 158 | crocoddyl::ActuationModelFullTpl<double>; | ||
| 159 | extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI | ||
| 160 | crocoddyl::ActuationModelFullTpl<float>; | ||
| 161 | |||
| 162 | #endif // CROCODDYL_MULTIBODY_ACTUATIONS_FULL_HPP_ | ||
| 163 |