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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2022, 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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#ifndef CROCODDYL_CORE_ACTUATION_BASE_HPP_ |
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#define CROCODDYL_CORE_ACTUATION_BASE_HPP_ |
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#include <boost/make_shared.hpp> |
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#include <boost/shared_ptr.hpp> |
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#include <stdexcept> |
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#include "crocoddyl/core/fwd.hpp" |
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#include "crocoddyl/core/mathbase.hpp" |
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#include "crocoddyl/core/state-base.hpp" |
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#include "crocoddyl/core/utils/exception.hpp" |
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namespace crocoddyl { |
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/** |
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* @brief Abstract class for the actuation-mapping model |
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* |
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* The generalized torques \f$\boldsymbol{\tau}\in\mathbb{R}^{nv}\f$ can by any |
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* nonlinear function of the joint-torque inputs |
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* \f$\mathbf{u}\in\mathbb{R}^{nu}\f$, and state point |
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* \f$\mathbf{x}\in\mathbb{R}^{nx}\f$, where `nv`, `nu`, and `ndx` are the |
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* number of joints, dimension of the joint torque input and state manifold, |
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* respectively. Additionally, the generalized torques are also named as the |
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* actuation signals of our system. |
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* |
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* The main computations are carried out in `calc()`, and `calcDiff()`, where |
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* the former computes actuation signal, and the latter computes the Jacobians |
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* of the actuation-mapping function, i.e., |
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* \f$\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{x}}\f$ and |
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* \f$\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{u}}\f$. Note that |
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* `calcDiff()` requires to run `calc()` first. |
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* |
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* \sa `calc()`, `calcDiff()`, `createData()` |
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*/ |
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template <typename _Scalar> |
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class ActuationModelAbstractTpl { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef StateAbstractTpl<Scalar> StateAbstract; |
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typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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/** |
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* @brief Initialize the actuation model |
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* |
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* @param[in] state State description |
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* @param[in] nu Dimension of joint-torque input |
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*/ |
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ActuationModelAbstractTpl(boost::shared_ptr<StateAbstract> state, |
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const std::size_t nu); |
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virtual ~ActuationModelAbstractTpl(); |
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/** |
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* @brief Compute the actuation signal from the state point |
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* \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ and joint torque inputs |
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* \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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* |
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* @param[in] data Actuation data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calc(const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) = 0; |
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/** |
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* @brief Ignore the computation of the actuation signal |
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* |
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* It does not update the actuation signal as this function is used in the |
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* terminal nodes of an optimal control problem. |
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* |
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* @param[in] data Actuation data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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void calc(const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Compute the Jacobians of the actuation function |
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* |
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* @param[in] data Actuation data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calcDiff(const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u) = 0; |
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/** |
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* @brief Ignore the computation of the Jacobians of the actuation function |
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* |
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* It does not update the Jacobians of the actuation function as this function |
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* is used in the terminal nodes of an optimal control problem. |
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* |
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* @param[in] data Actuation data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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void calcDiff(const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Compute the joint torque input from the generalized torques |
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* |
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* It stores the results in `ActuationDataAbstractTpl::u`. |
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* |
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* @param[in] data Actuation data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] tau Generalized torques \f$\mathbf{u}\in\mathbb{R}^{nv}\f$ |
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*/ |
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virtual void commands(const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& tau) = 0; |
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/** |
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* @brief Compute the torque transform from generalized torques to joint |
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* torque inputs |
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* |
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* It stores the results in `ActuationDataAbstractTpl::Mtau`. |
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* |
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* @param[in] data Actuation data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] tau Joint-torque inputs \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void torqueTransform( |
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const boost::shared_ptr<ActuationDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief Create the actuation data |
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* |
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* @return the actuation data |
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*/ |
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virtual boost::shared_ptr<ActuationDataAbstract> createData(); |
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/** |
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* @brief Return the dimension of the joint-torque input |
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*/ |
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std::size_t get_nu() const; |
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/** |
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* @brief Return the state |
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*/ |
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const boost::shared_ptr<StateAbstract>& get_state() const; |
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/** |
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* @brief Print information on the residual model |
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*/ |
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template <class Scalar> |
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friend std::ostream& operator<<( |
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std::ostream& os, const ResidualModelAbstractTpl<Scalar>& model); |
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/** |
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* @brief Print relevant information of the residual model |
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* |
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* @param[out] os Output stream object |
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*/ |
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virtual void print(std::ostream& os) const; |
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protected: |
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std::size_t nu_; //!< Dimension of joint torque inputs |
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boost::shared_ptr<StateAbstract> state_; //!< Model of the state |
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}; |
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template <typename _Scalar> |
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struct ActuationDataAbstractTpl { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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template <template <typename Scalar> class Model> |
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explicit ActuationDataAbstractTpl(Model<Scalar>* const model) |
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: tau(model->get_state()->get_nv()), |
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u(model->get_nu()), |
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dtau_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()), |
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dtau_du(model->get_state()->get_nv(), model->get_nu()), |
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Mtau(model->get_nu(), model->get_state()->get_nv()), |
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✓✗✓✗
✓✗✓✗
✓✗✓✗
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tau_set(model->get_state()->get_nv(), true) { |
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✓✗ |
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tau.setZero(); |
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u.setZero(); |
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dtau_dx.setZero(); |
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✓✗ |
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dtau_du.setZero(); |
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✓✗ |
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Mtau.setZero(); |
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} |
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virtual ~ActuationDataAbstractTpl() {} |
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VectorXs tau; //!< Generalized torques |
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VectorXs u; //!< Joint torques |
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MatrixXs dtau_dx; //!< Partial derivatives of the actuation model w.r.t. the |
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//!< state point |
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MatrixXs dtau_du; //!< Partial derivatives of the actuation model w.r.t. the |
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//!< joint torque input |
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MatrixXs Mtau; //!< Torque transform from generalized torques to joint torque |
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//!< inputs |
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std::vector<bool> tau_set; //!< True for joints that are actuacted |
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}; |
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} // namespace crocoddyl |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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/* --- Details -------------------------------------------------------------- */ |
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#include "crocoddyl/core/actuation-base.hxx" |
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#endif // CROCODDYL_CORE_ACTUATION_BASE_HPP_ |