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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2021-2025, 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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namespace crocoddyl { |
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template <typename Scalar> |
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ResidualModelImpulseCoMTpl<Scalar>::ResidualModelImpulseCoMTpl( |
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std::shared_ptr<StateMultibody> state) |
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: Base(state, 3, 0, true, true, false), |
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pin_model_(state->get_pinocchio()) {} |
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template <typename Scalar> |
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void ResidualModelImpulseCoMTpl<Scalar>::calc( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>&) { |
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// Compute the residual residual give the reference CoM position |
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Data* d = static_cast<Data*>(data.get()); |
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const std::size_t nq = state_->get_nq(); |
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const std::size_t nv = state_->get_nv(); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = |
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x.head(nq); |
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const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = |
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x.tail(nv); |
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pinocchio::centerOfMass(*pin_model_.get(), d->pinocchio_internal, q, |
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d->impulses->vnext - v); |
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data->r = d->pinocchio_internal.vcom[0]; |
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} |
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template <typename Scalar> |
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void ResidualModelImpulseCoMTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { |
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Data* d = static_cast<Data*>(data.get()); |
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// Compute the derivatives of the frame placement |
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const std::size_t nv = state_->get_nv(); |
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const std::size_t ndx = state_->get_ndx(); |
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pinocchio::getCenterOfMassVelocityDerivatives( |
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*pin_model_.get(), d->pinocchio_internal, d->dvc_dq); |
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pinocchio::jacobianCenterOfMass(*pin_model_.get(), d->pinocchio_internal, |
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false); |
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d->ddv_dv = d->impulses->dvnext_dx.rightCols(ndx - nv); |
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d->ddv_dv.diagonal().array() -= Scalar(1); |
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data->Rx.leftCols(nv) = d->dvc_dq; |
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data->Rx.leftCols(nv).noalias() += |
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d->pinocchio_internal.Jcom * d->impulses->dvnext_dx.leftCols(nv); |
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data->Rx.rightCols(ndx - nv).noalias() = |
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d->pinocchio_internal.Jcom * d->ddv_dv; |
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} |
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template <typename Scalar> |
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std::shared_ptr<ResidualDataAbstractTpl<Scalar> > |
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ResidualModelImpulseCoMTpl<Scalar>::createData( |
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DataCollectorAbstract* const data) { |
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return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, |
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data); |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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ResidualModelImpulseCoMTpl<NewScalar> ResidualModelImpulseCoMTpl<Scalar>::cast() |
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const { |
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typedef ResidualModelImpulseCoMTpl<NewScalar> ReturnType; |
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typedef StateMultibodyTpl<NewScalar> StateType; |
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ReturnType ret( |
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std::static_pointer_cast<StateType>(state_->template cast<NewScalar>())); |
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return ret; |
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} |
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template <typename Scalar> |
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void ResidualModelImpulseCoMTpl<Scalar>::print(std::ostream& os) const { |
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os << "ResidualModelImpulseCoM"; |
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} |
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} // namespace crocoddyl |
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