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File:	include/crocoddyl/multibody/actuations/floating-base.hpp	Lines:	38	40	95.0 %
Date:	2024-02-13 11:12:33	Branches:	44	138	31.9 %


///////////////////////////////////////////////////////////////////////////////
// BSD 3-Clause License
//
// Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
///////////////////////////////////////////////////////////////////////////////

#ifndef CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_
#define CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_

#include "crocoddyl/core/actuation-base.hpp"
#include "crocoddyl/core/utils/exception.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"

namespace crocoddyl {

/**
 * @brief Floating-base actuation model
 *
 * It considers the first joint, defined in the Pinocchio model, as the
 * floating-base joints. Then, this joint (that might have various DoFs) is
 * unactuated.
 *
 * The main computations are carrying out in `calc`, and `calcDiff`, where the
 * former computes actuation signal \f$\mathbf{a}\f$ from a given joint-torque
 * input \f$\mathbf{u}\f$ and state point \f$\mathbf{x}\f$, and the latter
 * computes the Jacobians of the actuation-mapping function. Note that
 * `calcDiff` requires to run `calc` first.
 *
 * \sa `ActuationModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()`
 */
template <typename _Scalar>
class ActuationModelFloatingBaseTpl
    : public ActuationModelAbstractTpl<_Scalar> {
 public:
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActuationModelAbstractTpl<Scalar> Base;
  typedef ActuationDataAbstractTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;

  /**
   * @brief Initialize the floating-base actuation model
   *
   * @param[in] state  State of a multibody system
   * @param[in] nu     Dimension of joint-torque vector
   */
  explicit ActuationModelFloatingBaseTpl(
      boost::shared_ptr<StateMultibody> state)
      : Base(state,
             state->get_nv() -
                 state->get_pinocchio()
                     ->joints[(
                         state->get_pinocchio()->existJointName("root_joint")
                             ? state->get_pinocchio()->getJointId("root_joint")
                             : 0)]
                     .nv()){};
  virtual ~ActuationModelFloatingBaseTpl(){};

  /**
   * @brief Compute the floating-base actuation signal from the joint-torque
   * input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
   *
   * @param[in] data  Actuation data
   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
   * @param[in] u     Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
   */
  virtual void calc(const boost::shared_ptr<Data>& data,
                    const Eigen::Ref<const VectorXs>& /*x*/,
                    const Eigen::Ref<const VectorXs>& u) {
    if (static_cast<std::size_t>(u.size()) != nu_) {
      throw_pretty("Invalid argument: "
                   << "u has wrong dimension (it should be " +
                          std::to_string(nu_) + ")");
    }
    data->tau.tail(nu_) = u;
  };

  /**
   * @brief Compute the Jacobians of the floating-base actuation function
   *
   * @param[in] data  Actuation data
   * @param[in] x     State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
   * @param[in] u     Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
   */
#ifndef NDEBUG
  virtual void calcDiff(const boost::shared_ptr<Data>& data,
                        const Eigen::Ref<const VectorXs>& /*x*/,
                        const Eigen::Ref<const VectorXs>& /*u*/) {
#else
  virtual void calcDiff(const boost::shared_ptr<Data>&,
                        const Eigen::Ref<const VectorXs>& /*x*/,
                        const Eigen::Ref<const VectorXs>& /*u*/) {
#endif
    // The derivatives has constant values which were set in createData.
    assert_pretty(data->dtau_dx.isZero(), "dtau_dx has wrong value");
    assert_pretty(MatrixXs(data->dtau_du).isApprox(dtau_du_),
                  "dtau_du has wrong value");
  };

  virtual void commands(const boost::shared_ptr<Data>& data,
                        const Eigen::Ref<const VectorXs>&,
                        const Eigen::Ref<const VectorXs>& tau) {
    if (static_cast<std::size_t>(tau.size()) != state_->get_nv()) {
      throw_pretty("Invalid argument: "
                   << "tau has wrong dimension (it should be " +
                          std::to_string(state_->get_nv()) + ")");
    }
    data->u = tau.tail(nu_);
  }

#ifndef NDEBUG
  virtual void torqueTransform(const boost::shared_ptr<Data>& data,
                               const Eigen::Ref<const VectorXs>&,
                               const Eigen::Ref<const VectorXs>&) {
#else
  virtual void torqueTransform(const boost::shared_ptr<Data>&,
                               const Eigen::Ref<const VectorXs>&,
                               const Eigen::Ref<const VectorXs>&) {
#endif
    // The torque transform has constant values which were set in createData.
    assert_pretty(MatrixXs(data->Mtau).isApprox(Mtau_), "Mtau has wrong value");
  }

  /**
   * @brief Create the floating-base actuation data
   *
   * @return the actuation data
   */
  virtual boost::shared_ptr<Data> createData() {
    typedef StateMultibodyTpl<Scalar> StateMultibody;
    boost::shared_ptr<StateMultibody> state =
        boost::static_pointer_cast<StateMultibody>(state_);
    boost::shared_ptr<Data> data =
        boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this);
    const std::size_t root_joint_id =
        state->get_pinocchio()->existJointName("root_joint")
            ? state->get_pinocchio()->getJointId("root_joint")
            : 0;
    const std::size_t nfb = state->get_pinocchio()->joints[root_joint_id].nv();
    data->dtau_du.diagonal(-nfb).setOnes();
    data->Mtau.diagonal(nfb).setOnes();
    for (std::size_t i = 0; i < nfb; ++i) {
      data->tau_set[i] = false;
    }
#ifndef NDEBUG
    dtau_du_ = data->dtau_du;
    Mtau_ = data->Mtau;
#endif
    return data;
  };

 protected:
  using Base::nu_;
  using Base::state_;

#ifndef NDEBUG
 private:
  MatrixXs dtau_du_;
  MatrixXs Mtau_;
#endif
};

}  // namespace crocoddyl

#endif  // CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_


Generated by: GCOVR (Version 4.2)

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2019-2022, 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			#ifndef CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_
11			#define CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_
12
13			#include "crocoddyl/core/actuation-base.hpp"
14			#include "crocoddyl/core/utils/exception.hpp"
15			#include "crocoddyl/multibody/fwd.hpp"
16			#include "crocoddyl/multibody/states/multibody.hpp"
17
18			namespace crocoddyl {
19
20			/**
21			* @brief Floating-base actuation model
22			*
23			* It considers the first joint, defined in the Pinocchio model, as the
24			* floating-base joints. Then, this joint (that might have various DoFs) is
25			* unactuated.
26			*
27			* The main computations are carrying out in `calc`, and `calcDiff`, where the
28			* former computes actuation signal \f$\mathbf{a}\f$ from a given joint-torque
29			* input \f$\mathbf{u}\f$ and state point \f$\mathbf{x}\f$, and the latter
30			* computes the Jacobians of the actuation-mapping function. Note that
31			* `calcDiff` requires to run `calc` first.
32			*
33			* \sa `ActuationModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()`
34			*/
35			template <typename _Scalar>
36			class ActuationModelFloatingBaseTpl
37			: public ActuationModelAbstractTpl<_Scalar> {
38			public:
39			typedef _Scalar Scalar;
40			typedef MathBaseTpl<Scalar> MathBase;
41			typedef ActuationModelAbstractTpl<Scalar> Base;
42			typedef ActuationDataAbstractTpl<Scalar> Data;
43			typedef StateMultibodyTpl<Scalar> StateMultibody;
44			typedef typename MathBase::VectorXs VectorXs;
45			typedef typename MathBase::MatrixXs MatrixXs;
46
47			/**
48			* @brief Initialize the floating-base actuation model
49			*
50			* @param[in] state State of a multibody system
51			* @param[in] nu Dimension of joint-torque vector
52			*/
53		703	explicit ActuationModelFloatingBaseTpl(
54			boost::shared_ptr<StateMultibody> state)
55			: Base(state,
56	✓✗	1406	state->get_nv() -
57		703	state->get_pinocchio()
58		825	->joints[(
59		703	state->get_pinocchio()->existJointName("root_joint")
60	✓✗✓✗ ✓✓✓✗ ✓✗✓✓ ✗✗✗✗	1406	? state->get_pinocchio()->getJointId("root_joint")
61			: 0)]
62	✓✗✓✓ ✓✗✓✗	2109	.nv()){};
63		1410	virtual ~ActuationModelFloatingBaseTpl(){};
64
65			/**
66			* @brief Compute the floating-base actuation signal from the joint-torque
67			* input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
68			*
69			* @param[in] data Actuation data
70			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
71			* @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
72			*/
73		54507	virtual void calc(const boost::shared_ptr<Data>& data,
74			const Eigen::Ref<const VectorXs>& /x/,
75			const Eigen::Ref<const VectorXs>& u) {
76	✗✓	54507	if (static_cast<std::size_t>(u.size()) != nu_) {
77			throw_pretty("Invalid argument: "
78			<< "u has wrong dimension (it should be " +
79			std::to_string(nu_) + ")");
80			}
81	✓✗	54507	data->tau.tail(nu_) = u;
82		54507	};
83
84			/**
85			* @brief Compute the Jacobians of the floating-base actuation function
86			*
87			* @param[in] data Actuation data
88			* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$
89			* @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$
90			*/
91			#ifndef NDEBUG
92		8676	virtual void calcDiff(const boost::shared_ptr<Data>& data,
93			const Eigen::Ref<const VectorXs>& /x/,
94			const Eigen::Ref<const VectorXs>& /u/) {
95			#else
96			virtual void calcDiff(const boost::shared_ptr<Data>&,
97			const Eigen::Ref<const VectorXs>& /x/,
98			const Eigen::Ref<const VectorXs>& /u/) {
99			#endif
100			// The derivatives has constant values which were set in createData.
101	✓✗✗✓ ✗✗✗✗ ✗✗✗✗	8676	assert_pretty(data->dtau_dx.isZero(), "dtau_dx has wrong value");
102	✓✗✗✓ ✗✗✗✗ ✗✗✗✗	8676	assert_pretty(MatrixXs(data->dtau_du).isApprox(dtau_du_),
103			"dtau_du has wrong value");
104		8676	};
105
106		23375	virtual void commands(const boost::shared_ptr<Data>& data,
107			const Eigen::Ref<const VectorXs>&,
108			const Eigen::Ref<const VectorXs>& tau) {
109	✗✓	23375	if (static_cast<std::size_t>(tau.size()) != state_->get_nv()) {
110			throw_pretty("Invalid argument: "
111			<< "tau has wrong dimension (it should be " +
112			std::to_string(state_->get_nv()) + ")");
113			}
114	✓✗	23375	data->u = tau.tail(nu_);
115		23375	}
116
117			#ifndef NDEBUG
118		3145	virtual void torqueTransform(const boost::shared_ptr<Data>& data,
119			const Eigen::Ref<const VectorXs>&,
120			const Eigen::Ref<const VectorXs>&) {
121			#else
122			virtual void torqueTransform(const boost::shared_ptr<Data>&,
123			const Eigen::Ref<const VectorXs>&,
124			const Eigen::Ref<const VectorXs>&) {
125			#endif
126			// The torque transform has constant values which were set in createData.
127	✓✗✗✓ ✗✗✗✗ ✗✗✗✗	3145	assert_pretty(MatrixXs(data->Mtau).isApprox(Mtau_), "Mtau has wrong value");
128		3145	}
129
130			/**
131			* @brief Create the floating-base actuation data
132			*
133			* @return the actuation data
134			*/
135		55605	virtual boost::shared_ptr<Data> createData() {
136			typedef StateMultibodyTpl<Scalar> StateMultibody;
137		55605	boost::shared_ptr<StateMultibody> state =
138		55605	boost::static_pointer_cast<StateMultibody>(state_);
139	✓✗	55605	boost::shared_ptr<Data> data =
140			boost::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this);
141		55605	const std::size_t root_joint_id =
142		55605	state->get_pinocchio()->existJointName("root_joint")
143	✓✗✓✗ ✓✓✓✗ ✓✗✓✓ ✓✓✗✗ ✗✗	55605	? state->get_pinocchio()->getJointId("root_joint")
144			: 0;
145	✓✗	55605	const std::size_t nfb = state->get_pinocchio()->joints[root_joint_id].nv();
146	✓✗✓✗	55605	data->dtau_du.diagonal(-nfb).setOnes();
147	✓✗✓✗	55605	data->Mtau.diagonal(nfb).setOnes();
148	✓✓	370625	for (std::size_t i = 0; i < nfb; ++i) {
149		315020	data->tau_set[i] = false;
150			}
151			#ifndef NDEBUG
152	✓✗	55605	dtau_du_ = data->dtau_du;
153	✓✗	55605	Mtau_ = data->Mtau;
154			#endif
155		111210	return data;
156			};
157
158			protected:
159			using Base::nu_;
160			using Base::state_;
161
162			#ifndef NDEBUG
163			private:
164			MatrixXs dtau_du_;
165			MatrixXs Mtau_;
166			#endif
167			};
168
169			} // namespace crocoddyl
170
171			#endif // CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_