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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2022-2023, Heriot-Watt University, University of Edinburgh |
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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_RESIDUALS_JOINT_TORQUE_HPP_ |
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#define CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_ |
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#include "crocoddyl/core/actuation-base.hpp" |
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#include "crocoddyl/core/data/joint.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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#include "crocoddyl/core/residual-base.hpp" |
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namespace crocoddyl { |
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/** |
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* @brief Define a joint-effort residual |
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* |
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* This residual function is defined as |
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* \f$\mathbf{r}=\mathbf{u}-\mathbf{u}^*\f$, where |
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* \f$\mathbf{u},\mathbf{u}^*\in~\mathbb{R}^{nu}\f$ are the current and |
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* reference joint effort inputs, respectively. Note that the dimension of the |
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* residual vector is obtained from `ActuationModelAbstract::nu`. |
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* |
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* Both residual and residual Jacobians are computed analytically. |
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* |
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* As described in ResidualModelAbstractTpl(), the residual value and its |
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* Jacobians are calculated by `calc` and `calcDiff`, respectively. |
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* |
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* \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` |
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*/ |
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template <typename _Scalar> |
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class ResidualModelJointEffortTpl : public ResidualModelAbstractTpl<_Scalar> { |
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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 ResidualModelAbstractTpl<Scalar> Base; |
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typedef ResidualDataJointEffortTpl<Scalar> Data; |
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typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef StateAbstractTpl<Scalar> StateAbstract; |
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typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract; |
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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 joint-effort residual model |
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* |
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* @param[in] state State description |
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* @param[in] actuation Actuation model |
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* @param[in] uref Reference joint effort |
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* @param[in] nu Dimension of the control vector |
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* @param[in] fwddyn Indicates that we have a forward dynamics problem |
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* (true) or inverse dynamics (false) (default false) |
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*/ |
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ResidualModelJointEffortTpl( |
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boost::shared_ptr<StateAbstract> state, |
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boost::shared_ptr<ActuationModelAbstract> actuation, const VectorXs& uref, |
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const std::size_t nu, const bool fwddyn = false); |
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/** |
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* @brief Initialize the joint-effort residual model |
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* |
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* The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. |
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* |
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* @param[in] state State description |
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* @param[in] actuation Actuation model |
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* @param[in] uref Reference joint effort |
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*/ |
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ResidualModelJointEffortTpl( |
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boost::shared_ptr<StateAbstract> state, |
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boost::shared_ptr<ActuationModelAbstract> actuation, |
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const VectorXs& uref); |
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/** |
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* @brief Initialize the joint-effort residual model |
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* |
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* The default reference joint effort is obtained from |
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* `MathBaseTpl<>::VectorXs::Zero(actuation->get_nu())`. |
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* |
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* @param[in] state State description |
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* @param[in] actuation Actuation model |
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* @param[in] nu Dimension of the control vector |
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*/ |
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ResidualModelJointEffortTpl( |
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boost::shared_ptr<StateAbstract> state, |
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boost::shared_ptr<ActuationModelAbstract> actuation, |
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const std::size_t nu); |
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/** |
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* @brief Initialize the joint-effort residual model |
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* |
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* The default reference joint effort is obtained from |
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* `MathBaseTpl<>::VectorXs::Zero(actuation->get_nu())`. The default `nu` |
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* value is obtained from `StateAbstractTpl::get_nv()`. |
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* |
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* @param[in] state State description |
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* @param[in] actuation Actuation model |
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*/ |
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ResidualModelJointEffortTpl( |
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boost::shared_ptr<StateAbstract> state, |
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boost::shared_ptr<ActuationModelAbstract> actuation); |
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virtual ~ResidualModelJointEffortTpl(); |
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/** |
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* @brief Compute the joint-effort residual |
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* |
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* @param[in] data Joint-effort residual 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 Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief @copydoc Base::calc(const boost::shared_ptr<ResidualDataAbstract>& |
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* data, const Eigen::Ref<const VectorXs>& x) |
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*/ |
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virtual void calc(const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Compute the derivatives of the joint-effort residual |
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* |
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* @param[in] data Joint-effort residual 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 Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief @copydoc Base::calcDiff(const |
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* boost::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const |
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* VectorXs>& x) |
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*/ |
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virtual void calcDiff(const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Create the joint-effort residual data |
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*/ |
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virtual boost::shared_ptr<ResidualDataAbstract> createData( |
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DataCollectorAbstract* const data); |
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/** |
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* @brief Return the reference joint-effort vector |
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*/ |
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const VectorXs& get_reference() const; |
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/** |
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* @brief Modify the reference joint-effort vector |
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*/ |
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void set_reference(const VectorXs& reference); |
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/** |
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* @brief Print relevant information of the joint-effort residual |
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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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using Base::nr_; |
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using Base::nu_; |
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using Base::q_dependent_; |
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using Base::state_; |
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using Base::v_dependent_; |
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private: |
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VectorXs uref_; //!< Reference joint-effort input |
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bool fwddyn_; //!< True for forward dynamics, False for inverse dynamics |
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}; |
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template <typename _Scalar> |
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struct ResidualDataJointEffortTpl : public ResidualDataAbstractTpl<_Scalar> { |
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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 ResidualDataAbstractTpl<Scalar> Base; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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template <template <typename Scalar> class Model> |
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ResidualDataJointEffortTpl(Model<Scalar>* const model, |
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DataCollectorAbstract* const data) |
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: Base(model, data) { |
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// Check that proper shared data has been passed |
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DataCollectorJointTpl<Scalar>* d = |
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✓✗ |
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dynamic_cast<DataCollectorJointTpl<Scalar>*>(shared); |
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✗✓ |
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if (d == nullptr) { |
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throw_pretty( |
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"Invalid argument: the shared data should be derived from " |
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"DataCollectorJoint"); |
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} |
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joint = d->joint; |
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} |
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boost::shared_ptr<JointDataAbstractTpl<Scalar> > joint; //!< Joint data |
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using Base::r; |
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using Base::Ru; |
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using Base::Rx; |
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using Base::shared; |
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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/residuals/joint-effort.hxx" |
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#endif // CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_ |