| Directory: | ./ |
|---|---|
| File: | include/crocoddyl/core/residuals/joint-acceleration.hxx |
| Date: | 2025-01-16 08:47:40 |
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| Lines: | 28 | 39 | 71.8% |
| Branches: | 9 | 82 | 11.0% |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2023, Heriot-Watt University | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #include "crocoddyl/core/residuals/joint-acceleration.hpp" | ||
| 10 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 11 | |||
| 12 | namespace crocoddyl { | ||
| 13 | |||
| 14 | template <typename Scalar> | ||
| 15 | ✗ | ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl( | |
| 16 | boost::shared_ptr<StateAbstract> state, const VectorXs& aref, | ||
| 17 | const std::size_t nu) | ||
| 18 | ✗ | : Base(state, state->get_nv(), nu, true, true, true), aref_(aref) { | |
| 19 | ✗ | if (static_cast<std::size_t>(aref_.size()) != state->get_nv()) { | |
| 20 | ✗ | throw_pretty( | |
| 21 | "Invalid argument: " << "aref has wrong dimension (it should be " + | ||
| 22 | std::to_string(state->get_nv()) + ")"); | ||
| 23 | } | ||
| 24 | } | ||
| 25 | |||
| 26 | template <typename Scalar> | ||
| 27 | ✗ | ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl( | |
| 28 | boost::shared_ptr<StateAbstract> state, const VectorXs& aref) | ||
| 29 | : Base(state, state->get_nv(), state->get_nv(), true, true, true), | ||
| 30 | ✗ | aref_(aref) { | |
| 31 | ✗ | if (static_cast<std::size_t>(aref_.size()) != state->get_nv()) { | |
| 32 | ✗ | throw_pretty( | |
| 33 | "Invalid argument: " << "aref has wrong dimension (it should be " + | ||
| 34 | std::to_string(state->get_nv()) + ")"); | ||
| 35 | } | ||
| 36 | } | ||
| 37 | |||
| 38 | template <typename Scalar> | ||
| 39 | 150 | ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl( | |
| 40 | boost::shared_ptr<StateAbstract> state, const std::size_t nu) | ||
| 41 | : Base(state, state->get_nv(), nu, true, true, true), | ||
| 42 |
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150 | aref_(VectorXs::Zero(state->get_nv())) {} |
| 43 | |||
| 44 | template <typename Scalar> | ||
| 45 | 1 | ResidualModelJointAccelerationTpl<Scalar>::ResidualModelJointAccelerationTpl( | |
| 46 | boost::shared_ptr<StateAbstract> state) | ||
| 47 | : Base(state, state->get_nv(), state->get_nv(), true, true, true), | ||
| 48 |
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1 | aref_(VectorXs::Zero(state->get_nv())) {} |
| 49 | |||
| 50 | template <typename Scalar> | ||
| 51 | 306 | ResidualModelJointAccelerationTpl< | |
| 52 | 306 | Scalar>::~ResidualModelJointAccelerationTpl() {} | |
| 53 | |||
| 54 | template <typename Scalar> | ||
| 55 | 7040 | void ResidualModelJointAccelerationTpl<Scalar>::calc( | |
| 56 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 57 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 58 | 7040 | Data* d = static_cast<Data*>(data.get()); | |
| 59 |
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7040 | data->r = d->joint->a - aref_; |
| 60 | 7040 | } | |
| 61 | |||
| 62 | template <typename Scalar> | ||
| 63 | 571 | void ResidualModelJointAccelerationTpl<Scalar>::calc( | |
| 64 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 65 | const Eigen::Ref<const VectorXs>&) { | ||
| 66 | 571 | data->r.setZero(); | |
| 67 | 571 | } | |
| 68 | |||
| 69 | template <typename Scalar> | ||
| 70 | 1947 | void ResidualModelJointAccelerationTpl<Scalar>::calcDiff( | |
| 71 | const boost::shared_ptr<ResidualDataAbstract>& data, | ||
| 72 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 73 | 1947 | Data* d = static_cast<Data*>(data.get()); | |
| 74 | 1947 | data->Rx = d->joint->da_dx; | |
| 75 | 1947 | data->Ru = d->joint->da_du; | |
| 76 | 1947 | } | |
| 77 | |||
| 78 | template <typename Scalar> | ||
| 79 | boost::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 80 | 9793 | ResidualModelJointAccelerationTpl<Scalar>::createData( | |
| 81 | DataCollectorAbstract* const data) { | ||
| 82 |
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19586 | boost::shared_ptr<ResidualDataAbstract> d = boost::allocate_shared<Data>( |
| 83 | 9793 | Eigen::aligned_allocator<Data>(), this, data); | |
| 84 | 9793 | return d; | |
| 85 | } | ||
| 86 | |||
| 87 | template <typename Scalar> | ||
| 88 | ✗ | void ResidualModelJointAccelerationTpl<Scalar>::print(std::ostream& os) const { | |
| 89 | ✗ | os << "ResidualModelJointAcceleration"; | |
| 90 | } | ||
| 91 | |||
| 92 | template <typename Scalar> | ||
| 93 | const typename MathBaseTpl<Scalar>::VectorXs& | ||
| 94 | 1 | ResidualModelJointAccelerationTpl<Scalar>::get_reference() const { | |
| 95 | 1 | return aref_; | |
| 96 | } | ||
| 97 | |||
| 98 | template <typename Scalar> | ||
| 99 | 1 | void ResidualModelJointAccelerationTpl<Scalar>::set_reference( | |
| 100 | const VectorXs& reference) { | ||
| 101 |
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1 | if (static_cast<std::size_t>(reference.size()) != nr_) { |
| 102 | ✗ | throw_pretty( | |
| 103 | "Invalid argument: " | ||
| 104 | << "the generalized-acceleration reference has wrong dimension (" | ||
| 105 | << reference.size() | ||
| 106 | << " provided - it should be " + std::to_string(nr_) + ")") | ||
| 107 | } | ||
| 108 | 1 | aref_ = reference; | |
| 109 | 1 | } | |
| 110 | |||
| 111 | } // namespace crocoddyl | ||
| 112 |