| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2021-2025, 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 | namespace crocoddyl { | ||
| 11 | |||
| 12 | template <typename Scalar> | ||
| 13 | ✗ | ResidualModelImpulseCoMTpl<Scalar>::ResidualModelImpulseCoMTpl( | |
| 14 | std::shared_ptr<StateMultibody> state) | ||
| 15 | : Base(state, 3, 0, true, true, false), | ||
| 16 | ✗ | pin_model_(state->get_pinocchio()) {} | |
| 17 | |||
| 18 | template <typename Scalar> | ||
| 19 | ✗ | void ResidualModelImpulseCoMTpl<Scalar>::calc( | |
| 20 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 21 | const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>&) { | ||
| 22 | // Compute the residual residual give the reference CoM position | ||
| 23 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 24 | ✗ | const std::size_t nq = state_->get_nq(); | |
| 25 | ✗ | const std::size_t nv = state_->get_nv(); | |
| 26 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> q = | ||
| 27 | ✗ | x.head(nq); | |
| 28 | const Eigen::VectorBlock<const Eigen::Ref<const VectorXs>, Eigen::Dynamic> v = | ||
| 29 | ✗ | x.tail(nv); | |
| 30 | |||
| 31 | ✗ | pinocchio::centerOfMass(*pin_model_.get(), d->pinocchio_internal, q, | |
| 32 | ✗ | d->impulses->vnext - v); | |
| 33 | ✗ | data->r = d->pinocchio_internal.vcom[0]; | |
| 34 | ✗ | } | |
| 35 | |||
| 36 | template <typename Scalar> | ||
| 37 | ✗ | void ResidualModelImpulseCoMTpl<Scalar>::calcDiff( | |
| 38 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 39 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 40 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 41 | |||
| 42 | // Compute the derivatives of the frame placement | ||
| 43 | ✗ | const std::size_t nv = state_->get_nv(); | |
| 44 | ✗ | const std::size_t ndx = state_->get_ndx(); | |
| 45 | ✗ | pinocchio::getCenterOfMassVelocityDerivatives( | |
| 46 | ✗ | *pin_model_.get(), d->pinocchio_internal, d->dvc_dq); | |
| 47 | ✗ | pinocchio::jacobianCenterOfMass(*pin_model_.get(), d->pinocchio_internal, | |
| 48 | false); | ||
| 49 | ✗ | d->ddv_dv = d->impulses->dvnext_dx.rightCols(ndx - nv); | |
| 50 | ✗ | d->ddv_dv.diagonal().array() -= Scalar(1); | |
| 51 | ✗ | data->Rx.leftCols(nv) = d->dvc_dq; | |
| 52 | ✗ | data->Rx.leftCols(nv).noalias() += | |
| 53 | ✗ | d->pinocchio_internal.Jcom * d->impulses->dvnext_dx.leftCols(nv); | |
| 54 | ✗ | data->Rx.rightCols(ndx - nv).noalias() = | |
| 55 | ✗ | d->pinocchio_internal.Jcom * d->ddv_dv; | |
| 56 | ✗ | } | |
| 57 | |||
| 58 | template <typename Scalar> | ||
| 59 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 60 | ✗ | ResidualModelImpulseCoMTpl<Scalar>::createData( | |
| 61 | DataCollectorAbstract* const data) { | ||
| 62 | ✗ | return std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, | |
| 63 | ✗ | data); | |
| 64 | } | ||
| 65 | |||
| 66 | template <typename Scalar> | ||
| 67 | template <typename NewScalar> | ||
| 68 | ✗ | ResidualModelImpulseCoMTpl<NewScalar> ResidualModelImpulseCoMTpl<Scalar>::cast() | |
| 69 | const { | ||
| 70 | typedef ResidualModelImpulseCoMTpl<NewScalar> ReturnType; | ||
| 71 | typedef StateMultibodyTpl<NewScalar> StateType; | ||
| 72 | ✗ | ReturnType ret( | |
| 73 | ✗ | std::static_pointer_cast<StateType>(state_->template cast<NewScalar>())); | |
| 74 | ✗ | return ret; | |
| 75 | } | ||
| 76 | |||
| 77 | template <typename Scalar> | ||
| 78 | ✗ | void ResidualModelImpulseCoMTpl<Scalar>::print(std::ostream& os) const { | |
| 79 | ✗ | os << "ResidualModelImpulseCoM"; | |
| 80 | ✗ | } | |
| 81 | |||
| 82 | } // namespace crocoddyl | ||
| 83 |