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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2021, LAAS-CNRS, 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_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_ |
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#define CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_ |
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#include "crocoddyl/core/residual-base.hpp" |
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#include "crocoddyl/core/utils/exception.hpp" |
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#include "crocoddyl/multibody/data/multibody.hpp" |
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#include "crocoddyl/multibody/states/multibody.hpp" |
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namespace crocoddyl { |
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/** |
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* @brief Control gravity residual |
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* |
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* This residual function is defined as |
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* \f$\mathbf{r}=\mathbf{u}-\mathbf{g}(\mathbf{q})\f$, where |
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* \f$\mathbf{u}\in~\mathbb{R}^{nu}\f$ is the current control input, |
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* \f$\mathbf{g}(\mathbf{q})\f$ is the gravity torque corresponding to the |
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* current configuration, \f$\mathbf{q}\in~\mathbb{R}^{nq}\f$ the current |
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* position joints input. Note that the dimension of the residual vector is |
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* obtained from `StateAbstractTpl::get_nv()`. |
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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 ResidualModelControlGravTpl : 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 ResidualDataControlGravTpl<Scalar> Data; |
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typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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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 control gravity residual model |
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* |
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* @param[in] state State of the multibody system |
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* @param[in] nu Dimension of control vector |
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*/ |
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ResidualModelControlGravTpl(boost::shared_ptr<StateMultibody> state, |
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const std::size_t nu); |
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/** |
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* @brief Initialize the control gravity 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 of the multibody system |
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*/ |
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ResidualModelControlGravTpl(boost::shared_ptr<StateMultibody> state); |
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virtual ~ResidualModelControlGravTpl(); |
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/** |
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* @brief Compute the control gravity residual |
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* |
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* @param[in] data Control 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 Jacobians of the control gravity residual |
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* |
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* @param[in] data Control 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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virtual boost::shared_ptr<ResidualDataAbstract> createData( |
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DataCollectorAbstract *const data); |
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/** |
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* @brief Print relevant information of the control-grav 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::nu_; |
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using Base::state_; |
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using Base::v_dependent_; |
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private: |
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typename StateMultibody::PinocchioModel |
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pin_model_; //!< Pinocchio model used for internal computations |
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}; |
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template <typename _Scalar> |
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struct ResidualDataControlGravTpl : 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 StateMultibodyTpl<Scalar> StateMultibody; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef pinocchio::DataTpl<Scalar> PinocchioData; |
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template <template <typename Scalar> class Model> |
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ResidualDataControlGravTpl(Model<Scalar> *const model, |
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DataCollectorAbstract *const data) |
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✓✗ |
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: Base(model, data) { |
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// Check that proper shared data has been passed |
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DataCollectorActMultibodyTpl<Scalar> *d = |
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✓✗ |
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dynamic_cast<DataCollectorActMultibodyTpl<Scalar> *>(shared); |
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✗✓ |
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if (d == NULL) { |
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throw_pretty( |
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"Invalid argument: the shared data should be derived from " |
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"DataCollectorActMultibodyTpl"); |
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} |
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// Avoids data casting at runtime |
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StateMultibody *sm = |
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static_cast<StateMultibody *>(model->get_state().get()); |
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✓✗✓✗
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pinocchio = PinocchioData(*(sm->get_pinocchio().get())); |
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actuation = d->actuation; |
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} |
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PinocchioData pinocchio; //!< Pinocchio data |
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boost::shared_ptr<ActuationDataAbstractTpl<Scalar> > |
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actuation; //!< Actuation 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/multibody/residuals/control-gravity.hxx" |
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#endif // CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_ |