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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2022, University of Edinburgh, 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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#ifndef CROCODDYL_CORE_DATA_JOINT_HPP_ |
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#define CROCODDYL_CORE_DATA_JOINT_HPP_ |
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#include "crocoddyl/core/data-collector-base.hpp" |
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#include "crocoddyl/core/data/actuation.hpp" |
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#include "crocoddyl/core/fwd.hpp" |
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#include "crocoddyl/core/state-base.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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struct JointDataAbstractTpl { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef StateAbstractTpl<Scalar> StateAbstract; |
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typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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/** |
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* @brief Initialize a joint data structure containing generalized |
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* accelerations and joint efforts, and their derivatives. |
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* |
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* @param state State description |
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* @param actuation Actuation model |
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* @param nu Dimension of control input |
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*/ |
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JointDataAbstractTpl(std::shared_ptr<StateAbstract> state, |
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std::shared_ptr<ActuationModelAbstract> actuation, |
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const std::size_t nu) |
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: tau(actuation->get_nu()), |
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a(state->get_nv()), |
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dtau_dx(actuation->get_nu(), state->get_ndx()), |
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dtau_du(actuation->get_nu(), nu), |
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da_dx(state->get_nv(), state->get_ndx()), |
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da_du(state->get_nv(), nu) { |
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tau.setZero(); |
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a.setZero(); |
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dtau_dx.setZero(); |
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dtau_du.setZero(); |
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da_dx.setZero(); |
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da_du.setZero(); |
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} |
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virtual ~JointDataAbstractTpl() {} |
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VectorXs tau; //!< Joint efforts |
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VectorXs a; //!< Generalized joint acceleration |
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MatrixXs dtau_dx; //!< Partial derivatives of the joint efforts w.r.t. the |
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//!< state point |
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MatrixXs dtau_du; //!< Partial derivatives of the joint efforts w.r.t. the |
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//!< control input |
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MatrixXs da_dx; //!< Partial derivatives of the generalized joint |
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//!< accelerations w.r.t. the state point |
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MatrixXs da_du; //!< Partial derivatives of the generalized joint |
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//!< accelerations w.r.t. the control input |
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}; |
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template <typename Scalar> |
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struct DataCollectorJointTpl : virtual DataCollectorAbstractTpl<Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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DataCollectorJointTpl(std::shared_ptr<JointDataAbstractTpl<Scalar> > joint) |
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: DataCollectorAbstractTpl<Scalar>(), joint(joint) {} |
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virtual ~DataCollectorJointTpl() {} |
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std::shared_ptr<JointDataAbstractTpl<Scalar> > joint; |
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}; |
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template <typename Scalar> |
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struct DataCollectorJointActuationTpl : DataCollectorActuationTpl<Scalar> { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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/** |
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* @brief Initialize the joint-actuation data collector |
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* |
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* @param[in] actuation Actuation data |
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* @param[in] joint Joint data |
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*/ |
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DataCollectorJointActuationTpl( |
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std::shared_ptr<ActuationDataAbstractTpl<Scalar> > actuation, |
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std::shared_ptr<JointDataAbstractTpl<Scalar> > joint) |
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: DataCollectorActuationTpl<Scalar>(actuation), joint(joint) {} |
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virtual ~DataCollectorJointActuationTpl() {} |
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std::shared_ptr<JointDataAbstractTpl<Scalar> > joint; |
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}; |
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} // namespace crocoddyl |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::JointDataAbstractTpl) |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::DataCollectorJointTpl) |
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CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT( |
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crocoddyl::DataCollectorJointActuationTpl) |
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#endif // CROCODDYL_CORE_DATA_JOINT_HPP_ |
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