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|---|---|---|---|
| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_MULTIBODY_STATES_MULTIBODY_HPP_ | ||
| 11 | #define CROCODDYL_MULTIBODY_STATES_MULTIBODY_HPP_ | ||
| 12 | |||
| 13 | #include "crocoddyl/core/state-base.hpp" | ||
| 14 | #include "crocoddyl/multibody/fwd.hpp" | ||
| 15 | |||
| 16 | namespace crocoddyl { | ||
| 17 | |||
| 18 | /** | ||
| 19 | * @brief State multibody representation | ||
| 20 | * | ||
| 21 | * A multibody state is described by the configuration point and its tangential | ||
| 22 | * velocity, or in other words, by the generalized position and velocity | ||
| 23 | * coordinates of a rigid-body system. For this state, we describe its | ||
| 24 | * operators: difference, integrates, transport and their derivatives for any | ||
| 25 | * Pinocchio model. | ||
| 26 | * | ||
| 27 | * For more details about these operators, please read the documentation of the | ||
| 28 | * `StateAbstractTpl` class. | ||
| 29 | * | ||
| 30 | * \sa `diff()`, `integrate()`, `Jdiff()`, `Jintegrate()` and | ||
| 31 | * `JintegrateTransport()` | ||
| 32 | */ | ||
| 33 | template <typename _Scalar> | ||
| 34 | class StateMultibodyTpl : public StateAbstractTpl<_Scalar> { | ||
| 35 | public: | ||
| 36 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 37 | ✗ | CROCODDYL_DERIVED_CAST(StateBase, StateMultibodyTpl) | |
| 38 | |||
| 39 | typedef _Scalar Scalar; | ||
| 40 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 41 | typedef StateAbstractTpl<Scalar> Base; | ||
| 42 | typedef pinocchio::ModelTpl<Scalar> PinocchioModel; | ||
| 43 | typedef typename MathBase::VectorXs VectorXs; | ||
| 44 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 45 | |||
| 46 | /** | ||
| 47 | * @brief Initialize the multibody state | ||
| 48 | * | ||
| 49 | * @param[in] model Pinocchio model | ||
| 50 | */ | ||
| 51 | explicit StateMultibodyTpl(std::shared_ptr<PinocchioModel> model); | ||
| 52 | StateMultibodyTpl(); | ||
| 53 | virtual ~StateMultibodyTpl(); | ||
| 54 | |||
| 55 | /** | ||
| 56 | * @brief Generate a zero state. | ||
| 57 | * | ||
| 58 | * Note that the zero configuration is computed using `pinocchio::neutral`. | ||
| 59 | */ | ||
| 60 | virtual VectorXs zero() const override; | ||
| 61 | |||
| 62 | /** | ||
| 63 | * @brief Generate a random state | ||
| 64 | * | ||
| 65 | * Note that the random configuration is computed using `pinocchio::random` | ||
| 66 | * which satisfies the manifold definition (e.g., the quaterion definition) | ||
| 67 | */ | ||
| 68 | virtual VectorXs rand() const override; | ||
| 69 | |||
| 70 | virtual void diff(const Eigen::Ref<const VectorXs>& x0, | ||
| 71 | const Eigen::Ref<const VectorXs>& x1, | ||
| 72 | Eigen::Ref<VectorXs> dxout) const override; | ||
| 73 | virtual void integrate(const Eigen::Ref<const VectorXs>& x, | ||
| 74 | const Eigen::Ref<const VectorXs>& dx, | ||
| 75 | Eigen::Ref<VectorXs> xout) const override; | ||
| 76 | virtual void Jdiff(const Eigen::Ref<const VectorXs>&, | ||
| 77 | const Eigen::Ref<const VectorXs>&, | ||
| 78 | Eigen::Ref<MatrixXs> Jfirst, Eigen::Ref<MatrixXs> Jsecond, | ||
| 79 | const Jcomponent firstsecond = both) const override; | ||
| 80 | |||
| 81 | virtual void Jintegrate(const Eigen::Ref<const VectorXs>& x, | ||
| 82 | const Eigen::Ref<const VectorXs>& dx, | ||
| 83 | Eigen::Ref<MatrixXs> Jfirst, | ||
| 84 | Eigen::Ref<MatrixXs> Jsecond, | ||
| 85 | const Jcomponent firstsecond = both, | ||
| 86 | const AssignmentOp = setto) const override; | ||
| 87 | virtual void JintegrateTransport(const Eigen::Ref<const VectorXs>& x, | ||
| 88 | const Eigen::Ref<const VectorXs>& dx, | ||
| 89 | Eigen::Ref<MatrixXs> Jin, | ||
| 90 | const Jcomponent firstsecond) const override; | ||
| 91 | |||
| 92 | /** | ||
| 93 | * @brief Return the Pinocchio model (i.e., model of the rigid body system) | ||
| 94 | */ | ||
| 95 | const std::shared_ptr<PinocchioModel>& get_pinocchio() const; | ||
| 96 | |||
| 97 | template <typename NewScalar> | ||
| 98 | StateMultibodyTpl<NewScalar> cast() const; | ||
| 99 | |||
| 100 | /** | ||
| 101 | * @brief Print relevant information of the state multibody | ||
| 102 | * | ||
| 103 | * @param[out] os Output stream object | ||
| 104 | */ | ||
| 105 | virtual void print(std::ostream& os) const override; | ||
| 106 | |||
| 107 | protected: | ||
| 108 | using Base::has_limits_; | ||
| 109 | using Base::lb_; | ||
| 110 | using Base::ndx_; | ||
| 111 | using Base::nq_; | ||
| 112 | using Base::nv_; | ||
| 113 | using Base::nx_; | ||
| 114 | using Base::ub_; | ||
| 115 | |||
| 116 | private: | ||
| 117 | std::shared_ptr<PinocchioModel> pinocchio_; //!< Pinocchio model | ||
| 118 | VectorXs x0_; //!< Zero state | ||
| 119 | }; | ||
| 120 | |||
| 121 | } // namespace crocoddyl | ||
| 122 | |||
| 123 | /* --- Details -------------------------------------------------------------- */ | ||
| 124 | /* --- Details -------------------------------------------------------------- */ | ||
| 125 | /* --- Details -------------------------------------------------------------- */ | ||
| 126 | #include "crocoddyl/multibody/states/multibody.hxx" | ||
| 127 | |||
| 128 | extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI | ||
| 129 | crocoddyl::StateMultibodyTpl<double>; | ||
| 130 | extern template class CROCODDYL_EXPLICIT_INSTANTIATION_DECLARATION_DLLAPI | ||
| 131 | crocoddyl::StateMultibodyTpl<float>; | ||
| 132 | |||
| 133 | #endif // CROCODDYL_MULTIBODY_STATES_MULTIBODY_HPP_ | ||
| 134 |