| Directory: | ./ |
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| File: | include/crocoddyl/core/residuals/joint-effort.hxx |
| Date: | 2025-03-26 19:23:43 |
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| Lines: | 34 | 60 | 56.7% |
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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 | #include "crocoddyl/core/residuals/joint-effort.hpp" | ||
| 10 | |||
| 11 | namespace crocoddyl { | ||
| 12 | |||
| 13 | template <typename Scalar> | ||
| 14 | 597 | ResidualModelJointEffortTpl<Scalar>::ResidualModelJointEffortTpl( | |
| 15 | std::shared_ptr<StateAbstract> state, | ||
| 16 | std::shared_ptr<ActuationModelAbstract> actuation, const VectorXs& uref, | ||
| 17 | const std::size_t nu, const bool fwddyn) | ||
| 18 | : Base(state, actuation->get_nu(), nu, fwddyn ? false : true, | ||
| 19 | fwddyn ? false : true, true), | ||
| 20 | 597 | actuation_(actuation), | |
| 21 |
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597 | uref_(uref), |
| 22 |
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597 | fwddyn_(fwddyn) { |
| 23 |
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597 | if (nu_ == 0) { |
| 24 | ✗ | throw_pretty("Invalid argument: " | |
| 25 | << "it seems to be an autonomous system, if so, don't add " | ||
| 26 | "this residual function"); | ||
| 27 | } | ||
| 28 | 597 | } | |
| 29 | |||
| 30 | template <typename Scalar> | ||
| 31 | ✗ | ResidualModelJointEffortTpl<Scalar>::ResidualModelJointEffortTpl( | |
| 32 | std::shared_ptr<StateAbstract> state, | ||
| 33 | std::shared_ptr<ActuationModelAbstract> actuation, const VectorXs& uref) | ||
| 34 | : Base(state, actuation->get_nu(), state->get_nv(), true, true, true), | ||
| 35 | ✗ | actuation_(actuation), | |
| 36 | ✗ | uref_(uref), | |
| 37 | ✗ | fwddyn_(false) {} | |
| 38 | |||
| 39 | template <typename Scalar> | ||
| 40 | 1 | ResidualModelJointEffortTpl<Scalar>::ResidualModelJointEffortTpl( | |
| 41 | std::shared_ptr<StateAbstract> state, | ||
| 42 | std::shared_ptr<ActuationModelAbstract> actuation, const std::size_t nu) | ||
| 43 | : Base(state, actuation->get_nu(), nu, true, true, true), | ||
| 44 | 1 | actuation_(actuation), | |
| 45 |
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1 | uref_(VectorXs::Zero(actuation->get_nu())), |
| 46 |
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1 | fwddyn_(false) { |
| 47 |
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1 | if (nu_ == 0) { |
| 48 | ✗ | throw_pretty("Invalid argument: " | |
| 49 | << "it seems to be an autonomous system, if so, don't add " | ||
| 50 | "this residual function"); | ||
| 51 | } | ||
| 52 | 1 | } | |
| 53 | |||
| 54 | template <typename Scalar> | ||
| 55 | 1 | ResidualModelJointEffortTpl<Scalar>::ResidualModelJointEffortTpl( | |
| 56 | std::shared_ptr<StateAbstract> state, | ||
| 57 | std::shared_ptr<ActuationModelAbstract> actuation) | ||
| 58 | : Base(state, actuation->get_nu(), state->get_nv(), true, true, true), | ||
| 59 | 1 | actuation_(actuation), | |
| 60 |
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1 | uref_(VectorXs::Zero(actuation->get_nu())) {} |
| 61 | |||
| 62 | template <typename Scalar> | ||
| 63 | 38100 | void ResidualModelJointEffortTpl<Scalar>::calc( | |
| 64 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 65 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 66 | 38100 | Data* d = static_cast<Data*>(data.get()); | |
| 67 |
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38100 | data->r = d->joint->tau - uref_; |
| 68 | 38100 | } | |
| 69 | |||
| 70 | template <typename Scalar> | ||
| 71 | ✗ | void ResidualModelJointEffortTpl<Scalar>::calc( | |
| 72 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 73 | const Eigen::Ref<const VectorXs>&) { | ||
| 74 | ✗ | if (fwddyn_) { | |
| 75 | ✗ | data->r.setZero(); | |
| 76 | } else { | ||
| 77 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 78 | ✗ | data->r = d->joint->tau - uref_; | |
| 79 | } | ||
| 80 | } | ||
| 81 | |||
| 82 | template <typename Scalar> | ||
| 83 | 6945 | void ResidualModelJointEffortTpl<Scalar>::calcDiff( | |
| 84 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 85 | const Eigen::Ref<const VectorXs>&, const Eigen::Ref<const VectorXs>&) { | ||
| 86 | 6945 | Data* d = static_cast<Data*>(data.get()); | |
| 87 |
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6945 | if (q_dependent_ || v_dependent_) { |
| 88 | ✗ | data->Rx = d->joint->dtau_dx; | |
| 89 | } | ||
| 90 | 6945 | data->Ru = d->joint->dtau_du; | |
| 91 | 6945 | } | |
| 92 | |||
| 93 | template <typename Scalar> | ||
| 94 | ✗ | void ResidualModelJointEffortTpl<Scalar>::calcDiff( | |
| 95 | const std::shared_ptr<ResidualDataAbstract>& data, | ||
| 96 | const Eigen::Ref<const VectorXs>&) { | ||
| 97 | ✗ | if (fwddyn_) { | |
| 98 | ✗ | data->Rx.setZero(); | |
| 99 | } else { | ||
| 100 | ✗ | Data* d = static_cast<Data*>(data.get()); | |
| 101 | ✗ | data->Rx = d->joint->dtau_dx; | |
| 102 | ✗ | data->Ru = d->joint->dtau_du; | |
| 103 | } | ||
| 104 | } | ||
| 105 | |||
| 106 | template <typename Scalar> | ||
| 107 | std::shared_ptr<ResidualDataAbstractTpl<Scalar> > | ||
| 108 | 48185 | ResidualModelJointEffortTpl<Scalar>::createData( | |
| 109 | DataCollectorAbstract* const data) { | ||
| 110 |
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96370 | std::shared_ptr<ResidualDataAbstract> d = |
| 111 | 48185 | std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this, data); | |
| 112 | 48185 | return d; | |
| 113 | } | ||
| 114 | |||
| 115 | template <typename Scalar> | ||
| 116 | template <typename NewScalar> | ||
| 117 | ResidualModelJointEffortTpl<NewScalar> | ||
| 118 | ✗ | ResidualModelJointEffortTpl<Scalar>::cast() const { | |
| 119 | typedef ResidualModelJointEffortTpl<NewScalar> ReturnType; | ||
| 120 | ✗ | ReturnType ret(state_->template cast<NewScalar>(), | |
| 121 | ✗ | actuation_->template cast<NewScalar>(), | |
| 122 | ✗ | uref_.template cast<NewScalar>(), nu_, fwddyn_); | |
| 123 | ✗ | return ret; | |
| 124 | } | ||
| 125 | |||
| 126 | template <typename Scalar> | ||
| 127 | ✗ | void ResidualModelJointEffortTpl<Scalar>::print(std::ostream& os) const { | |
| 128 | ✗ | os << "ResidualModelJointEffort"; | |
| 129 | } | ||
| 130 | |||
| 131 | template <typename Scalar> | ||
| 132 | const typename MathBaseTpl<Scalar>::VectorXs& | ||
| 133 | 1 | ResidualModelJointEffortTpl<Scalar>::get_reference() const { | |
| 134 | 1 | return uref_; | |
| 135 | } | ||
| 136 | |||
| 137 | template <typename Scalar> | ||
| 138 | 1 | void ResidualModelJointEffortTpl<Scalar>::set_reference( | |
| 139 | const VectorXs& reference) { | ||
| 140 |
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1 | if (static_cast<std::size_t>(reference.size()) != nr_) { |
| 141 | ✗ | throw_pretty("Invalid argument: " | |
| 142 | << "the joint-effort reference has wrong dimension (" | ||
| 143 | << reference.size() | ||
| 144 | << " provided - it should be " + std::to_string(nr_) + ")") | ||
| 145 | } | ||
| 146 | 1 | uref_ = reference; | |
| 147 | 1 | } | |
| 148 | |||
| 149 | } // namespace crocoddyl | ||
| 150 |