GCC Code Coverage Report

Line	Branch	Exec	Source
1			///////////////////////////////////////////////////////////////////////////////
2			// BSD 3-Clause License
3			//
4			// Copyright (C) 2022, University of Edinburgh, Heriot-Watt University
5			// Copyright note valid unless otherwise stated in individual files.
6			// All rights reserved.
7			///////////////////////////////////////////////////////////////////////////////
8
9			#ifndef CROCODDYL_CORE_DATA_JOINT_HPP_
10			#define CROCODDYL_CORE_DATA_JOINT_HPP_
11
12			#include "crocoddyl/core/data-collector-base.hpp"
13			#include "crocoddyl/core/data/actuation.hpp"
14			#include "crocoddyl/core/fwd.hpp"
15			#include "crocoddyl/core/state-base.hpp"
16
17			namespace crocoddyl {
18
19			template <typename _Scalar>
20			struct JointDataAbstractTpl {
21			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
22
23			typedef _Scalar Scalar;
24			typedef MathBaseTpl<Scalar> MathBase;
25			typedef StateAbstractTpl<Scalar> StateAbstract;
26			typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
27			typedef typename MathBase::VectorXs VectorXs;
28			typedef typename MathBase::MatrixXs MatrixXs;
29
30			/**
31			* @brief Initialize a joint data structure containing generalized
32			* accelerations and joint efforts, and their derivatives.
33			*
34			* @param state State description
35			* @param actuation Actuation model
36			* @param nu Dimension of control input
37			*/
38		✗	JointDataAbstractTpl(std::shared_ptr<StateAbstract> state,
39			std::shared_ptr<ActuationModelAbstract> actuation,
40			const std::size_t nu)
41		✗	: tau(actuation->get_nu()),
42		✗	a(state->get_nv()),
43		✗	dtau_dx(actuation->get_nu(), state->get_ndx()),
44		✗	dtau_du(actuation->get_nu(), nu),
45		✗	da_dx(state->get_nv(), state->get_ndx()),
46		✗	da_du(state->get_nv(), nu) {
47		✗	tau.setZero();
48		✗	a.setZero();
49		✗	dtau_dx.setZero();
50		✗	dtau_du.setZero();
51		✗	da_dx.setZero();
52		✗	da_du.setZero();
53		✗	}
54		✗	virtual ~JointDataAbstractTpl() {}
55
56			VectorXs tau; //!< Joint efforts
57			VectorXs a; //!< Generalized joint acceleration
58			MatrixXs dtau_dx; //!< Partial derivatives of the joint efforts w.r.t. the
59			//!< state point
60			MatrixXs dtau_du; //!< Partial derivatives of the joint efforts w.r.t. the
61			//!< control input
62			MatrixXs da_dx; //!< Partial derivatives of the generalized joint
63			//!< accelerations w.r.t. the state point
64			MatrixXs da_du; //!< Partial derivatives of the generalized joint
65			//!< accelerations w.r.t. the control input
66			};
67
68			template <typename Scalar>
69			struct DataCollectorJointTpl : virtual DataCollectorAbstractTpl<Scalar> {
70			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
71
72		✗	DataCollectorJointTpl(std::shared_ptr<JointDataAbstractTpl<Scalar> > joint)
73		✗	: DataCollectorAbstractTpl<Scalar>(), joint(joint) {}
74		✗	virtual ~DataCollectorJointTpl() {}
75
76			std::shared_ptr<JointDataAbstractTpl<Scalar> > joint;
77			};
78
79			template <typename Scalar>
80			struct DataCollectorJointActuationTpl : DataCollectorActuationTpl<Scalar> {
81			EIGEN_MAKE_ALIGNED_OPERATOR_NEW
82
83			/**
84			* @brief Initialize the joint-actuation data collector
85			*
86			* @param[in] actuation Actuation data
87			* @param[in] joint Joint data
88			*/
89		✗	DataCollectorJointActuationTpl(
90			std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation,
91			std::shared_ptr<JointDataAbstractTpl<Scalar> > joint)
92		✗	: DataCollectorActuationTpl<Scalar>(actuation), joint(joint) {}
93		✗	virtual ~DataCollectorJointActuationTpl() {}
94
95			std::shared_ptr<JointDataAbstractTpl<Scalar> > joint;
96			};
97
98			} // namespace crocoddyl
99
100			CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::JointDataAbstractTpl)
101			CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorJointTpl)
102			CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
103			crocoddyl::DataCollectorJointActuationTpl)
104
105			#endif // CROCODDYL_CORE_DATA_JOINT_HPP_
106