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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2022, 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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#include "crocoddyl/core/residuals/joint-effort.hpp" |
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#include "crocoddyl/core/utils/exception.hpp" |
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namespace crocoddyl { |
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template <typename Scalar> |
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ResidualModelJointEffortTpl<Scalar>::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) |
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: Base(state, actuation->get_nu(), nu, fwddyn ? false : true, |
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fwddyn ? false : true, true), |
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uref_(uref), |
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✓✗✓✗
✓✗✓✗
|
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fwddyn_(fwddyn) { |
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✗✓ |
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if (nu_ == 0) { |
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throw_pretty("Invalid argument: " |
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<< "it seems to be an autonomous system, if so, don't add " |
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"this residual function"); |
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} |
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} |
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template <typename Scalar> |
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ResidualModelJointEffortTpl<Scalar>::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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: Base(state, actuation->get_nu(), state->get_nv(), true, true, true), |
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uref_(uref), |
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fwddyn_(false) {} |
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template <typename Scalar> |
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ResidualModelJointEffortTpl<Scalar>::ResidualModelJointEffortTpl( |
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boost::shared_ptr<StateAbstract> state, |
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boost::shared_ptr<ActuationModelAbstract> actuation, const std::size_t nu) |
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: Base(state, actuation->get_nu(), nu, true, true, true), |
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uref_(VectorXs::Zero(actuation->get_nu())), |
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✓✗✓✗
✓✗ |
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fwddyn_(false) { |
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✗✓ |
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if (nu_ == 0) { |
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throw_pretty("Invalid argument: " |
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<< "it seems to be an autonomous system, if so, don't add " |
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"this residual function"); |
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} |
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} |
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template <typename Scalar> |
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ResidualModelJointEffortTpl<Scalar>::ResidualModelJointEffortTpl( |
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boost::shared_ptr<StateAbstract> state, |
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boost::shared_ptr<ActuationModelAbstract> actuation) |
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: Base(state, actuation->get_nu(), state->get_nv(), true, true, true), |
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✓✗✓✗
✓✗ |
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uref_(VectorXs::Zero(actuation->get_nu())) {} |
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template <typename Scalar> |
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ResidualModelJointEffortTpl<Scalar>::~ResidualModelJointEffortTpl() {} |
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template <typename Scalar> |
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void ResidualModelJointEffortTpl<Scalar>::calc( |
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const boost::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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✓✗ |
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data->r = d->joint->tau - uref_; |
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} |
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template <typename Scalar> |
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void ResidualModelJointEffortTpl<Scalar>::calc( |
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const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&) { |
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if (fwddyn_) { |
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data->r.setZero(); |
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} else { |
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Data* d = static_cast<Data*>(data.get()); |
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data->r = d->joint->tau - uref_; |
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} |
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} |
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template <typename Scalar> |
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void ResidualModelJointEffortTpl<Scalar>::calcDiff( |
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const boost::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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✓✗✗✓
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if (q_dependent_ || v_dependent_) { |
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data->Rx = d->joint->dtau_dx; |
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} |
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data->Ru = d->joint->dtau_du; |
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} |
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template <typename Scalar> |
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void ResidualModelJointEffortTpl<Scalar>::calcDiff( |
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const boost::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&) { |
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if (fwddyn_) { |
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data->Rx.setZero(); |
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} else { |
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Data* d = static_cast<Data*>(data.get()); |
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data->Rx = d->joint->dtau_dx; |
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data->Ru = d->joint->dtau_du; |
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} |
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} |
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template <typename Scalar> |
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boost::shared_ptr<ResidualDataAbstractTpl<Scalar> > |
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ResidualModelJointEffortTpl<Scalar>::createData( |
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DataCollectorAbstract* const data) { |
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✓✗ |
96370 |
boost::shared_ptr<ResidualDataAbstract> d = boost::allocate_shared<Data>( |
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Eigen::aligned_allocator<Data>(), this, data); |
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return d; |
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} |
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template <typename Scalar> |
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void ResidualModelJointEffortTpl<Scalar>::print(std::ostream& os) const { |
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os << "ResidualModelJointEffort"; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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ResidualModelJointEffortTpl<Scalar>::get_reference() const { |
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return uref_; |
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} |
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template <typename Scalar> |
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void ResidualModelJointEffortTpl<Scalar>::set_reference( |
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const VectorXs& reference) { |
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✗✓ |
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if (static_cast<std::size_t>(reference.size()) != nr_) { |
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throw_pretty("Invalid argument: " |
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<< "the joint-effort reference has wrong dimension (" |
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<< reference.size() |
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<< " provided - it should be " + std::to_string(nr_) + ")") |
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} |
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uref_ = reference; |
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} |
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} // namespace crocoddyl |