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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 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_FRAME_PLACEMENT_HPP_ |
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#define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_ |
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#include <pinocchio/multibody/fwd.hpp> |
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#include <pinocchio/spatial/se3.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/fwd.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 Frame placement residual |
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* |
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* This residual function defines the frame placement tracking as |
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* \f$\mathbf{r}=\mathbf{p}\ominus\mathbf{p}^*\f$, where |
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* \f$\mathbf{p},\mathbf{p}^*\in~\mathbb{SE(3)}\f$ are the current and reference |
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* frame placements, respectively. Note that the dimension of the residual |
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* vector is 6. Furthermore, the Jacobians of the residual function are computed |
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* 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 ResidualModelFramePlacementTpl |
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: 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 ResidualDataFramePlacementTpl<Scalar> Data; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef pinocchio::SE3Tpl<Scalar> SE3; |
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/** |
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* @brief Initialize the frame placement residual model |
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* |
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* @param[in] state State of the multibody system |
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* @param[in] id Reference frame id |
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* @param[in] pref Reference frame placement |
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* @param[in] nu Dimension of the control vector |
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*/ |
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ResidualModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state, |
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const pinocchio::FrameIndex id, |
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const SE3& pref, const std::size_t nu); |
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/** |
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* @brief Initialize the frame placement residual model |
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* |
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* The default `nu` 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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* @param[in] id Reference frame id |
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* @param[in] pref Reference frame placement |
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*/ |
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ResidualModelFramePlacementTpl(boost::shared_ptr<StateMultibody> state, |
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const pinocchio::FrameIndex id, |
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const SE3& pref); |
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virtual ~ResidualModelFramePlacementTpl(); |
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/** |
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* @brief Compute the frame placement residual |
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* |
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* @param[in] data Frame placement 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 Compute the derivatives of the frame placement residual |
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* |
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* @param[in] data Frame-placement 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 Create the frame placement 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 frame id |
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*/ |
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pinocchio::FrameIndex get_id() const; |
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/** |
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* @brief Return the reference frame placement |
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*/ |
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const SE3& get_reference() const; |
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/** |
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* @brief Modify the reference frame id |
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*/ |
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void set_id(const pinocchio::FrameIndex id); |
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/** |
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* @brief Modify the reference frame placement |
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*/ |
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void set_reference(const SE3& reference); |
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/** |
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* @brief Print relevant information of the frame-placement 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::u_dependent_; |
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using Base::v_dependent_; |
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private: |
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pinocchio::FrameIndex id_; //!< Reference frame id |
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SE3 pref_; //!< Reference frame placement |
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pinocchio::SE3Tpl<Scalar> oMf_inv_; //!< Inverse reference placement |
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boost::shared_ptr<typename StateMultibody::PinocchioModel> |
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pin_model_; //!< Pinocchio model |
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}; |
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template <typename _Scalar> |
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struct ResidualDataFramePlacementTpl : 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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typedef typename MathBase::Matrix6xs Matrix6xs; |
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typedef typename MathBase::Matrix6s Matrix6s; |
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typedef typename MathBase::Vector6s Vector6s; |
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template <template <typename Scalar> class Model> |
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ResidualDataFramePlacementTpl(Model<Scalar>* const model, |
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DataCollectorAbstract* const data) |
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✓✗✓✗
✓✗ |
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: Base(model, data), rJf(6, 6), fJf(6, model->get_state()->get_nv()) { |
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✓✗ |
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r.setZero(); |
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✓✗ |
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rJf.setZero(); |
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✓✗ |
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fJf.setZero(); |
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// Check that proper shared data has been passed |
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DataCollectorMultibodyTpl<Scalar>* d = |
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✓✗ |
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dynamic_cast<DataCollectorMultibodyTpl<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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"DataCollectorMultibody"); |
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} |
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// Avoids data casting at runtime |
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pinocchio = d->pinocchio; |
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} |
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pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data |
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pinocchio::SE3Tpl<Scalar> rMf; //!< Error frame placement of the frame |
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Matrix6s rJf; //!< Error Jacobian of the frame |
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Matrix6xs fJf; //!< Local Jacobian of the frame |
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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/frame-placement.hxx" |
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#endif // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_ |