| Directory: | ./ |
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| File: | include/crocoddyl/core/residuals/joint-effort.hpp |
| Date: | 2025-03-26 19:23:43 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2022-2025, Heriot-Watt University, University of Edinburgh | ||
| 5 | // Copyright note valid unless otherwise stated in individual files. | ||
| 6 | // All rights reserved. | ||
| 7 | /////////////////////////////////////////////////////////////////////////////// | ||
| 8 | |||
| 9 | #ifndef CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_ | ||
| 10 | #define CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_ | ||
| 11 | |||
| 12 | #include "crocoddyl/core/actuation-base.hpp" | ||
| 13 | #include "crocoddyl/core/data/joint.hpp" | ||
| 14 | #include "crocoddyl/core/fwd.hpp" | ||
| 15 | #include "crocoddyl/core/residual-base.hpp" | ||
| 16 | |||
| 17 | namespace crocoddyl { | ||
| 18 | |||
| 19 | /** | ||
| 20 | * @brief Define a joint-effort residual | ||
| 21 | * | ||
| 22 | * This residual function is defined as | ||
| 23 | * \f$\mathbf{r}=\mathbf{u}-\mathbf{u}^*\f$, where | ||
| 24 | * \f$\mathbf{u},\mathbf{u}^*\in~\mathbb{R}^{nu}\f$ are the current and | ||
| 25 | * reference joint effort inputs, respectively. Note that the dimension of the | ||
| 26 | * residual vector is obtained from `ActuationModelAbstract::nu`. | ||
| 27 | * | ||
| 28 | * Both residual and residual Jacobians are computed analytically. | ||
| 29 | * | ||
| 30 | * As described in ResidualModelAbstractTpl(), the residual value and its | ||
| 31 | * Jacobians are calculated by `calc` and `calcDiff`, respectively. | ||
| 32 | * | ||
| 33 | * \sa `ResidualModelAbstractTpl`, `calc()`, `calcDiff()`, `createData()` | ||
| 34 | */ | ||
| 35 | template <typename _Scalar> | ||
| 36 | class ResidualModelJointEffortTpl : public ResidualModelAbstractTpl<_Scalar> { | ||
| 37 | public: | ||
| 38 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 39 | ✗ | CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelJointEffortTpl) | |
| 40 | |||
| 41 | typedef _Scalar Scalar; | ||
| 42 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 43 | typedef ResidualModelAbstractTpl<Scalar> Base; | ||
| 44 | typedef ResidualDataJointEffortTpl<Scalar> Data; | ||
| 45 | typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract; | ||
| 46 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 47 | typedef StateAbstractTpl<Scalar> StateAbstract; | ||
| 48 | typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract; | ||
| 49 | typedef typename MathBase::VectorXs VectorXs; | ||
| 50 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 51 | |||
| 52 | /** | ||
| 53 | * @brief Initialize the joint-effort residual model | ||
| 54 | * | ||
| 55 | * @param[in] state State description | ||
| 56 | * @param[in] actuation Actuation model | ||
| 57 | * @param[in] uref Reference joint effort | ||
| 58 | * @param[in] nu Dimension of the control vector | ||
| 59 | * @param[in] fwddyn Indicates that we have a forward dynamics problem | ||
| 60 | * (true) or inverse dynamics (false) (default false) | ||
| 61 | */ | ||
| 62 | ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state, | ||
| 63 | std::shared_ptr<ActuationModelAbstract> actuation, | ||
| 64 | const VectorXs& uref, const std::size_t nu, | ||
| 65 | const bool fwddyn = false); | ||
| 66 | |||
| 67 | /** | ||
| 68 | * @brief Initialize the joint-effort residual model | ||
| 69 | * | ||
| 70 | * The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. | ||
| 71 | * | ||
| 72 | * @param[in] state State description | ||
| 73 | * @param[in] actuation Actuation model | ||
| 74 | * @param[in] uref Reference joint effort | ||
| 75 | */ | ||
| 76 | ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state, | ||
| 77 | std::shared_ptr<ActuationModelAbstract> actuation, | ||
| 78 | const VectorXs& uref); | ||
| 79 | |||
| 80 | /** | ||
| 81 | * @brief Initialize the joint-effort residual model | ||
| 82 | * | ||
| 83 | * The default reference joint effort is obtained from | ||
| 84 | * `MathBaseTpl<>::VectorXs::Zero(actuation->get_nu())`. | ||
| 85 | * | ||
| 86 | * @param[in] state State description | ||
| 87 | * @param[in] actuation Actuation model | ||
| 88 | * @param[in] nu Dimension of the control vector | ||
| 89 | */ | ||
| 90 | ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state, | ||
| 91 | std::shared_ptr<ActuationModelAbstract> actuation, | ||
| 92 | const std::size_t nu); | ||
| 93 | |||
| 94 | /** | ||
| 95 | * @brief Initialize the joint-effort residual model | ||
| 96 | * | ||
| 97 | * The default reference joint effort is obtained from | ||
| 98 | * `MathBaseTpl<>::VectorXs::Zero(actuation->get_nu())`. The default `nu` | ||
| 99 | * value is obtained from `StateAbstractTpl::get_nv()`. | ||
| 100 | * | ||
| 101 | * @param[in] state State description | ||
| 102 | * @param[in] actuation Actuation model | ||
| 103 | */ | ||
| 104 | ResidualModelJointEffortTpl( | ||
| 105 | std::shared_ptr<StateAbstract> state, | ||
| 106 | std::shared_ptr<ActuationModelAbstract> actuation); | ||
| 107 | |||
| 108 | 1202 | virtual ~ResidualModelJointEffortTpl() = default; | |
| 109 | |||
| 110 | /** | ||
| 111 | * @brief Compute the joint-effort residual | ||
| 112 | * | ||
| 113 | * @param[in] data Joint-effort residual data | ||
| 114 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 115 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 116 | */ | ||
| 117 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 118 | const Eigen::Ref<const VectorXs>& x, | ||
| 119 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 120 | |||
| 121 | /** | ||
| 122 | * @brief @copydoc Base::calc(const std::shared_ptr<ResidualDataAbstract>& | ||
| 123 | * data, const Eigen::Ref<const VectorXs>& x) | ||
| 124 | */ | ||
| 125 | virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 126 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 127 | |||
| 128 | /** | ||
| 129 | * @brief Compute the derivatives of the joint-effort residual | ||
| 130 | * | ||
| 131 | * @param[in] data Joint-effort residual data | ||
| 132 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 133 | * @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 134 | */ | ||
| 135 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 136 | const Eigen::Ref<const VectorXs>& x, | ||
| 137 | const Eigen::Ref<const VectorXs>& u) override; | ||
| 138 | |||
| 139 | /** | ||
| 140 | * @brief @copydoc Base::calcDiff(const | ||
| 141 | * std::shared_ptr<ResidualDataAbstract>& data, const Eigen::Ref<const | ||
| 142 | * VectorXs>& x) | ||
| 143 | */ | ||
| 144 | virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 145 | const Eigen::Ref<const VectorXs>& x) override; | ||
| 146 | |||
| 147 | /** | ||
| 148 | * @brief Create the joint-effort residual data | ||
| 149 | */ | ||
| 150 | virtual std::shared_ptr<ResidualDataAbstract> createData( | ||
| 151 | DataCollectorAbstract* const data) override; | ||
| 152 | |||
| 153 | /** | ||
| 154 | * @brief Cast the joint-effort residual model to a different scalar type. | ||
| 155 | * | ||
| 156 | * It is useful for operations requiring different precision or scalar types. | ||
| 157 | * | ||
| 158 | * @tparam NewScalar The new scalar type to cast to. | ||
| 159 | * @return ResidualModelJointEffortTpl<NewScalar> A residual model with the | ||
| 160 | * new scalar type. | ||
| 161 | */ | ||
| 162 | template <typename NewScalar> | ||
| 163 | ResidualModelJointEffortTpl<NewScalar> cast() const; | ||
| 164 | |||
| 165 | /** | ||
| 166 | * @brief Return the reference joint-effort vector | ||
| 167 | */ | ||
| 168 | const VectorXs& get_reference() const; | ||
| 169 | |||
| 170 | /** | ||
| 171 | * @brief Modify the reference joint-effort vector | ||
| 172 | */ | ||
| 173 | void set_reference(const VectorXs& reference); | ||
| 174 | |||
| 175 | /** | ||
| 176 | * @brief Print relevant information of the joint-effort residual | ||
| 177 | * | ||
| 178 | * @param[out] os Output stream object | ||
| 179 | */ | ||
| 180 | virtual void print(std::ostream& os) const override; | ||
| 181 | |||
| 182 | protected: | ||
| 183 | using Base::nr_; | ||
| 184 | using Base::nu_; | ||
| 185 | using Base::q_dependent_; | ||
| 186 | using Base::state_; | ||
| 187 | using Base::v_dependent_; | ||
| 188 | |||
| 189 | private: | ||
| 190 | std::shared_ptr<ActuationModelAbstract> actuation_; //!< Actuation model | ||
| 191 | VectorXs uref_; //!< Reference joint-effort input | ||
| 192 | bool fwddyn_; //!< True for forward dynamics, False for inverse dynamics | ||
| 193 | }; | ||
| 194 | |||
| 195 | template <typename _Scalar> | ||
| 196 | struct ResidualDataJointEffortTpl : public ResidualDataAbstractTpl<_Scalar> { | ||
| 197 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 198 | |||
| 199 | typedef _Scalar Scalar; | ||
| 200 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 201 | typedef ResidualDataAbstractTpl<Scalar> Base; | ||
| 202 | typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; | ||
| 203 | |||
| 204 | template <template <typename Scalar> class Model> | ||
| 205 | 48185 | ResidualDataJointEffortTpl(Model<Scalar>* const model, | |
| 206 | DataCollectorAbstract* const data) | ||
| 207 | 48185 | : Base(model, data) { | |
| 208 | // Check that proper shared data has been passed | ||
| 209 | 48185 | DataCollectorJointTpl<Scalar>* d = | |
| 210 |
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48185 | dynamic_cast<DataCollectorJointTpl<Scalar>*>(shared); |
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48185 | if (d == nullptr) { |
| 212 | ✗ | throw_pretty( | |
| 213 | "Invalid argument: the shared data should be derived from " | ||
| 214 | "DataCollectorJoint"); | ||
| 215 | } | ||
| 216 | 48185 | joint = d->joint; | |
| 217 | 48185 | } | |
| 218 | 96370 | virtual ~ResidualDataJointEffortTpl() = default; | |
| 219 | |||
| 220 | std::shared_ptr<JointDataAbstractTpl<Scalar> > joint; //!< Joint data | ||
| 221 | using Base::r; | ||
| 222 | using Base::Ru; | ||
| 223 | using Base::Rx; | ||
| 224 | using Base::shared; | ||
| 225 | }; | ||
| 226 | |||
| 227 | } // namespace crocoddyl | ||
| 228 | |||
| 229 | /* --- Details -------------------------------------------------------------- */ | ||
| 230 | /* --- Details -------------------------------------------------------------- */ | ||
| 231 | /* --- Details -------------------------------------------------------------- */ | ||
| 232 | #include "crocoddyl/core/residuals/joint-effort.hxx" | ||
| 233 | |||
| 234 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelJointEffortTpl) | ||
| 235 | CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ResidualDataJointEffortTpl) | ||
| 236 | |||
| 237 | #endif // CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_ | ||
| 238 |