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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2023-2025, Heriot-Watt University |
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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-acceleration.hpp" |
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namespace crocoddyl { |
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template <typename Scalar> |
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ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl( |
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std::shared_ptr<StateAbstract> state, const VectorXs& aref, |
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const std::size_t nu) |
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: Base(state, state->get_nv(), nu, true, true, true), aref_(aref) { |
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if (static_cast<std::size_t>(aref_.size()) != state->get_nv()) { |
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throw_pretty( |
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"Invalid argument: " << "aref has wrong dimension (it should be " + |
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std::to_string(state->get_nv()) + ")"); |
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} |
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} |
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template <typename Scalar> |
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ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl( |
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std::shared_ptr<StateAbstract> state, const VectorXs& aref) |
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: Base(state, state->get_nv(), state->get_nv(), true, true, true), |
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aref_(aref) { |
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if (static_cast<std::size_t>(aref_.size()) != state->get_nv()) { |
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throw_pretty( |
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"Invalid argument: " << "aref has wrong dimension (it should be " + |
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std::to_string(state->get_nv()) + ")"); |
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} |
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} |
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template <typename Scalar> |
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ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl( |
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std::shared_ptr<StateAbstract> state, const std::size_t nu) |
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: Base(state, state->get_nv(), nu, true, true, true), |
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aref_(VectorXs::Zero(state->get_nv())) {} |
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template <typename Scalar> |
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ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl( |
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std::shared_ptr<StateAbstract> state) |
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: Base(state, state->get_nv(), state->get_nv(), true, true, true), |
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aref_(VectorXs::Zero(state->get_nv())) {} |
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template <typename Scalar> |
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void ResidualModelJointAccelerationTpl<Scalar>::calc( |
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const std::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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data->r = d->joint->a - aref_; |
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} |
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template <typename Scalar> |
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void ResidualModelJointAccelerationTpl<Scalar>::calc( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>&) { |
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data->r.setZero(); |
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} |
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template <typename Scalar> |
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void ResidualModelJointAccelerationTpl<Scalar>::calcDiff( |
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const std::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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data->Rx = d->joint->da_dx; |
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data->Ru = d->joint->da_du; |
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} |
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template <typename Scalar> |
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std::shared_ptr<ResidualDataAbstractTpl<Scalar> > |
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ResidualModelJointAccelerationTpl<Scalar>::createData( |
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DataCollectorAbstract* const data) { |
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std::shared_ptr<ResidualDataAbstract> d = |
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std::allocate_shared<Data>(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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template <typename NewScalar> |
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ResidualModelJointAccelerationTpl<NewScalar> |
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ResidualModelJointAccelerationTpl<Scalar>::cast() const { |
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typedef ResidualModelJointAccelerationTpl<NewScalar> ReturnType; |
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ReturnType ret(state_->template cast<NewScalar>(), |
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aref_.template cast<NewScalar>(), nu_); |
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return ret; |
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} |
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template <typename Scalar> |
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void ResidualModelJointAccelerationTpl<Scalar>::print(std::ostream& os) const { |
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os << "ResidualModelJointAcceleration"; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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ResidualModelJointAccelerationTpl<Scalar>::get_reference() const { |
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return aref_; |
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} |
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template <typename Scalar> |
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void ResidualModelJointAccelerationTpl<Scalar>::set_reference( |
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const VectorXs& reference) { |
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if (static_cast<std::size_t>(reference.size()) != nr_) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "the generalized-acceleration 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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aref_ = reference; |
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} |
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} // namespace crocoddyl |
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