| Directory: | ./ |
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| File: | include/crocoddyl/multibody/residuals/impulse-com.hxx |
| Date: | 2025-01-30 11:01:55 |
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| Lines: | 30 | 33 | 90.9% |
| Branches: | 19 | 38 | 50.0% |
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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 | #include <pinocchio/algorithm/center-of-mass-derivatives.hpp> | ||
| 10 | #include <pinocchio/algorithm/center-of-mass.hpp> | ||
| 11 | |||
| 12 | #include "crocoddyl/multibody/residuals/impulse-com.hpp" | ||
| 13 | |||
| 14 | namespace crocoddyl { | ||
| 15 | |||
| 16 | template <typename Scalar> | ||
| 17 | 8 | ResidualModelImpulseCoMTpl<Scalar>::ResidualModelImpulseCoMTpl( | |
| 18 | std::shared_ptr<StateMultibody> state) | ||
| 19 | : Base(state, 3, 0, true, true, false), | ||
| 20 |
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8 | pin_model_(state->get_pinocchio()) {} |
| 21 | |||
| 22 | template <typename Scalar> | ||
| 23 | 16 | ResidualModelImpulseCoMTpl<Scalar>::~ResidualModelImpulseCoMTpl() {} | |
| 24 | |||
| 25 | template <typename Scalar> | ||
| 26 | 2016 | void ResidualModelImpulseCoMTpl<Scalar>::calc( | |
| 27 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 28 | const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>&) { | ||
| 29 | // Compute the residual residual give the reference CoM position | ||
| 30 | 2016 | Data* d = static_cast<Data*>(data.get()); | |
| 31 | 2016 | const std::size_t nq = state_->get_nq(); | |
| 32 | 2016 | const std::size_t nv = state_->get_nv(); | |
| 33 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 34 |
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2016 | x.head(nq); |
| 35 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = | ||
| 36 |
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2016 | x.tail(nv); |
| 37 | |||
| 38 |
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2016 | pinocchio::centerOfMass(*pin_model_.get(), d->pinocchio_internal, q, |
| 39 |
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2016 | d->impulses->vnext - v); |
| 40 |
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2016 | data->r = d->pinocchio_internal.vcom[0]; |
| 41 | 2016 | } | |
| 42 | |||
| 43 | template <typename Scalar> | ||
| 44 | 26 | void ResidualModelImpulseCoMTpl<Scalar>::calcDiff( | |
| 45 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 46 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 47 | 26 | Data* d = static_cast<Data*>(data.get()); | |
| 48 | |||
| 49 | // Compute the derivatives of the frame placement | ||
| 50 | 26 | const std::size_t nv = state_->get_nv(); | |
| 51 | 26 | const std::size_t ndx = state_->get_ndx(); | |
| 52 | 26 | pinocchio::getCenterOfMassVelocityDerivatives( | |
| 53 | 26 | *pin_model_.get(), d->pinocchio_internal, d->dvc_dq); | |
| 54 | 26 | pinocchio::jacobianCenterOfMass(*pin_model_.get(), d->pinocchio_internal, | |
| 55 | false); | ||
| 56 |
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26 | d->ddv_dv = d->impulses->dvnext_dx.rightCols(ndx - nv); |
| 57 |
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26 | d->ddv_dv.diagonal().array() -= 1; |
| 58 |
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26 | data->Rx.leftCols(nv) = d->dvc_dq; |
| 59 |
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26 | data->Rx.leftCols(nv).noalias() += |
| 60 |
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26 | d->pinocchio_internal.Jcom * d->impulses->dvnext_dx.leftCols(nv); |
| 61 |
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26 | data->Rx.rightCols(ndx - nv).noalias() = |
| 62 | 26 | d->pinocchio_internal.Jcom * d->ddv_dv; | |
| 63 | 26 | } | |
| 64 | |||
| 65 | template <typename Scalar> | ||
| 66 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 67 | 1080 | ResidualModelImpulseCoMTpl<Scalar>::createData( | |
| 68 | DataCollectorAbstract* const data) { | ||
| 69 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 70 |
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1080 | data); |
| 71 | } | ||
| 72 | |||
| 73 | template <typename Scalar> | ||
| 74 | ✗ | void ResidualModelImpulseCoMTpl<Scalar>::print(std::ostream& os) const { | |
| 75 | ✗ | os << "ResidualModelImpulseCoM"; | |
| 76 | } | ||
| 77 | |||
| 78 | } // namespace crocoddyl | ||
| 79 |