| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/impulse-com.hpp |
| Date: | 2025-03-11 23:51:10 |
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| Lines: | 14 | 15 | 93.3% |
| Branches: | 9 | 26 | 34.6% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021, 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_RESIDUALS_IMPULSE_COM_HPP_ | ||
| 10 | #define CROCODDYL_MULTIBODY_RESIDUALS_IMPULSE_COM_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/residual-base.hpp" | ||
| 13 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 14 | #include "crocoddyl/multibody/data/impulses.hpp" | ||
| 15 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 16 | #include "crocoddyl/multibody/impulse-base.hpp" | ||
| 17 | #include "crocoddyl/multibody/states/multibody.hpp" | ||
| 18 | |||
| 19 | namespace crocoddyl { | ||
| 20 | |||
| 21 | /** | ||
| 22 | * @brief Impulse CoM residual | ||
| 23 | * | ||
| 24 | * This residual function is defined as | ||
| 25 | * \f$\mathbf{r}=\mathbf{J}_{com}*(\mathbf{v}_{next}-\mathbf{v})\f$, | ||
| 26 | * \f$\mathbf{J}_{com}\in\mathbb{R}^{3\times nv}\f$ is the CoM Jacobian, and | ||
| 27 | * \f$\mathbf{v}_{next},\mathbf{v}\in T_{\mathbf{q}}\mathcal{Q}\f$ are the | ||
| 28 | * generalized velocities after and before the impulse, respectively. Note that | ||
| 29 | * the dimension of the residual vector is 3. Furthermore, the Jacobians of the | ||
| 30 | * residual function are computed analytically. | ||
| 31 | * | ||
| 32 | * As described in `ResidualModelAbstractTpl()`, the residual value and its | ||
| 33 | * Jacobians are calculated by `calc` and `calcDiff`, respectively. | ||
| 34 | * | ||
| 35 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 36 | */ | ||
| 37 | template <typename _Scalar> | ||
| 38 | class ResidualModelImpulseCoMTpl : public ResidualModelAbstractTpl<_Scalar> { | ||
| 39 | public: | ||
| 40 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 41 | |||
| 42 | typedef _Scalar Scalar; | ||
| 43 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 44 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 45 | typedef ResidualDataImpulseCoMTpl<Scalar> Data; | ||
| 46 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 47 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 48 | typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract; | ||
| 49 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 50 | typedef typename MathBase::VectorXs VectorXs; | ||
| 51 | |||
| 52 | /** | ||
| 53 | * @brief Initialize the impulse CoM residual model | ||
| 54 | * | ||
| 55 | * @param[in] state State of the multibody system | ||
| 56 | */ | ||
| 57 | ResidualModelImpulseCoMTpl(std::shared_ptr<StateMultibody> state); | ||
| 58 | virtual ~ResidualModelImpulseCoMTpl(); | ||
| 59 | |||
| 60 | /** | ||
| 61 | * @brief Compute the impulse CoM residual | ||
| 62 | * | ||
| 63 | * @param[in] data Impulse CoM residual data | ||
| 64 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 65 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 66 | */ | ||
| 67 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 68 | const Eigen::Ref<const VectorXs>& x, | ||
| 69 | const Eigen::Ref<const VectorXs>& u); | ||
| 70 | |||
| 71 | /** | ||
| 72 | * @brief Compute the Jacobians of the impulse CoM residual | ||
| 73 | * | ||
| 74 | * @param[in] data Impulse CoM residual data | ||
| 75 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 76 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 77 | */ | ||
| 78 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 79 | const Eigen::Ref<const VectorXs>& x, | ||
| 80 | const Eigen::Ref<const VectorXs>& u); | ||
| 81 | |||
| 82 | /** | ||
| 83 | * @brief Create the impulse CoM residual data | ||
| 84 | */ | ||
| 85 | virtual std::shared_ptr<ResidualDataAbstract> createData( | ||
| 86 | DataCollectorAbstract* const data); | ||
| 87 | |||
| 88 | /** | ||
| 89 | * @brief Print relevant information of the impulse-com residual | ||
| 90 | * | ||
| 91 | * @param[out] os Output stream object | ||
| 92 | */ | ||
| 93 | virtual void print(std::ostream& os) const; | ||
| 94 | |||
| 95 | protected: | ||
| 96 | using Base::nu_; | ||
| 97 | using Base::state_; | ||
| 98 | using Base::u_dependent_; | ||
| 99 | |||
| 100 | private: | ||
| 101 | std::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_; | ||
| 102 | }; | ||
| 103 | |||
| 104 | template <typename _Scalar> | ||
| 105 | struct ResidualDataImpulseCoMTpl : public ResidualDataAbstractTpl<_Scalar> { | ||
| 106 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 107 | |||
| 108 | typedef _Scalar Scalar; | ||
| 109 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 110 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 111 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 112 | typedef StateMultibodyTpl<Scalar> StateMultibody; | ||
| 113 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 114 | typedef typename MathBase::Matrix3xs Matrix3xs; | ||
| 115 | |||
| 116 | template <template <typename Scalar> class Model> | ||
| 117 | 1080 | ResidualDataImpulseCoMTpl(Model<Scalar>* const model, | |
| 118 | DataCollectorAbstract* const data) | ||
| 119 | : Base(model, data), | ||
| 120 |
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1080 | dvc_dq(3, model->get_state()->get_nv()), |
| 121 |
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2160 | ddv_dv(model->get_state()->get_nv(), model->get_state()->get_nv()) { |
| 122 |
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1080 | dvc_dq.setZero(); |
| 123 |
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1080 | ddv_dv.setZero(); |
| 124 | 1080 | const std::shared_ptr<StateMultibody>& state = | |
| 125 | std::static_pointer_cast<StateMultibody>(model->get_state()); | ||
| 126 |
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1080 | pinocchio_internal = |
| 127 |
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2160 | pinocchio::DataTpl<Scalar>(*state->get_pinocchio().get()); |
| 128 | // Check that proper shared data has been passed | ||
| 129 | 1080 | DataCollectorMultibodyInImpulseTpl<Scalar>* d = | |
| 130 |
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1080 | dynamic_cast<DataCollectorMultibodyInImpulseTpl<Scalar>*>(shared); |
| 131 |
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1080 | if (d == NULL) { |
| 132 | ✗ | throw_pretty( | |
| 133 | "Invalid argument: the shared data should be derived from " | ||
| 134 | "DataCollectorMultibodyInImpulse"); | ||
| 135 | } | ||
| 136 | 1080 | pinocchio = d->pinocchio; | |
| 137 | 1080 | impulses = d->impulses; | |
| 138 | 1080 | } | |
| 139 | |||
| 140 | pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data | ||
| 141 | std::shared_ptr<crocoddyl::ImpulseDataMultipleTpl<Scalar> > | ||
| 142 | impulses; //!< Impulses data | ||
| 143 | Matrix3xs dvc_dq; //!< Jacobian of the CoM velocity | ||
| 144 | MatrixXs ddv_dv; //!< Jacobian of the CoM velocity | ||
| 145 | pinocchio::DataTpl<Scalar> | ||
| 146 | pinocchio_internal; //!< Pinocchio data for internal computation | ||
| 147 | using Base::r; | ||
| 148 | using Base::Ru; | ||
| 149 | using Base::Rx; | ||
| 150 | using Base::shared; | ||
| 151 | }; | ||
| 152 | |||
| 153 | } // namespace crocoddyl | ||
| 154 | |||
| 155 | /* --- Details -------------------------------------------------------------- */ | ||
| 156 | /* --- Details -------------------------------------------------------------- */ | ||
| 157 | /* --- Details -------------------------------------------------------------- */ | ||
| 158 | #include "crocoddyl/multibody/residuals/impulse-com.hxx" | ||
| 159 | |||
| 160 | #endif // CROCODDYL_MULTIBODY_RESIDUALS_IMPULSE_COM_HPP_ | ||
| 161 |