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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_IMPULSE_COM_HPP_ |
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#define CROCODDYL_MULTIBODY_RESIDUALS_IMPULSE_COM_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/impulses.hpp" |
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#include "crocoddyl/multibody/fwd.hpp" |
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#include "crocoddyl/multibody/impulse-base.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 Impulse CoM residual |
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* |
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* This residual function is defined as |
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* \f$\mathbf{r}=\mathbf{J}_{com}*(\mathbf{v}_{next}-\mathbf{v})\f$, |
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* \f$\mathbf{J}_{com}\in\mathbb{R}^{3\times nv}\f$ is the CoM Jacobian, and |
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* \f$\mathbf{v}_{next},\mathbf{v}\in T_{\mathbf{q}}\mathcal{Q}\f$ are the |
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* generalized velocities after and before the impulse, respectively. Note that |
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* the dimension of the residual vector is 3. Furthermore, the Jacobians of the |
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* residual function 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 ResidualModelImpulseCoMTpl : 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 ResidualDataImpulseCoMTpl<Scalar> Data; |
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typedef StateMultibodyTpl<Scalar> StateMultibody; |
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typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; |
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typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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/** |
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* @brief Initialize the impulse CoM residual model |
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* |
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* @param[in] state State of the multibody system |
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*/ |
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ResidualModelImpulseCoMTpl(boost::shared_ptr<StateMultibody> state); |
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virtual ~ResidualModelImpulseCoMTpl(); |
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/** |
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* @brief Compute the impulse CoM residual |
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* |
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* @param[in] data Impulse CoM 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 Jacobians of the impulse CoM residual |
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* |
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* @param[in] data Impulse CoM 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 impulse CoM 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 Print relevant information of the impulse-com 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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private: |
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boost::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_; |
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}; |
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template <typename _Scalar> |
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struct ResidualDataImpulseCoMTpl : 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 StateMultibodyTpl<Scalar> StateMultibody; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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typedef typename MathBase::Matrix3xs Matrix3xs; |
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template <template <typename Scalar> class Model> |
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ResidualDataImpulseCoMTpl(Model<Scalar>* const model, |
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DataCollectorAbstract* const data) |
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: Base(model, data), |
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dvc_dq(3, model->get_state()->get_nv()), |
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✓✗✓✗
✓✗ |
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ddv_dv(model->get_state()->get_nv(), model->get_state()->get_nv()) { |
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✓✗ |
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dvc_dq.setZero(); |
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✓✗ |
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ddv_dv.setZero(); |
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const boost::shared_ptr<StateMultibody>& state = |
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boost::static_pointer_cast<StateMultibody>(model->get_state()); |
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✓✗✓✗
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pinocchio_internal = |
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pinocchio::DataTpl<Scalar>(*state->get_pinocchio().get()); |
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// Check that proper shared data has been passed |
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DataCollectorMultibodyInImpulseTpl<Scalar>* d = |
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✓✗ |
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dynamic_cast<DataCollectorMultibodyInImpulseTpl<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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"DataCollectorMultibodyInImpulse"); |
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} |
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pinocchio = d->pinocchio; |
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impulses = d->impulses; |
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} |
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pinocchio::DataTpl<Scalar>* pinocchio; //!< Pinocchio data |
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boost::shared_ptr<crocoddyl::ImpulseDataMultipleTpl<Scalar> > |
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impulses; //!< Impulses data |
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Matrix3xs dvc_dq; //!< Jacobian of the CoM velocity |
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MatrixXs ddv_dv; //!< Jacobian of the CoM velocity |
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pinocchio::DataTpl<Scalar> |
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pinocchio_internal; //!< Pinocchio data for internal computation |
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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/impulse-com.hxx" |
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#endif // CROCODDYL_MULTIBODY_RESIDUALS_IMPULSE_COM_HPP_ |