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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2025, LAAS-CNRS, 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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namespace crocoddyl { |
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template <typename Scalar> |
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StateMultibodyTpl<Scalar>::StateMultibodyTpl( |
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std::shared_ptr<PinocchioModel> model) |
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: Base(model->nq + model->nv, 2 * model->nv), |
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pinocchio_(model), |
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x0_(VectorXs::Zero(model->nq + model->nv)) { |
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x0_.head(nq_) = pinocchio::neutral(*pinocchio_.get()); |
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// In a multibody system, we could define the first joint using Lie groups. |
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// The current cases are free-flyer (SE3) and spherical (S03). |
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// Instead simple represents any joint that can model within the Euclidean |
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// manifold. The rest of joints use Euclidean algebra. We use this fact for |
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// computing Jdiff. |
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// Define internally the limits of the first joint |
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const std::size_t nq0 = |
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model->existJointName("root_joint") |
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? model->joints[model->getJointId("root_joint")].nq() |
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: 0; |
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lb_.head(nq0) = -std::numeric_limits<Scalar>::max() * VectorXs::Ones(nq0); |
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ub_.head(nq0) = std::numeric_limits<Scalar>::max() * VectorXs::Ones(nq0); |
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lb_.segment(nq0, nq_ - nq0) = pinocchio_->lowerPositionLimit.tail(nq_ - nq0); |
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ub_.segment(nq0, nq_ - nq0) = pinocchio_->upperPositionLimit.tail(nq_ - nq0); |
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lb_.tail(nv_) = -pinocchio_->velocityLimit; |
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ub_.tail(nv_) = pinocchio_->velocityLimit; |
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Base::update_has_limits(); |
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} |
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template <typename Scalar> |
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StateMultibodyTpl<Scalar>::StateMultibodyTpl() |
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: Base(), x0_(VectorXs::Zero(0)) {} |
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template <typename Scalar> |
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StateMultibodyTpl<Scalar>::~StateMultibodyTpl() {} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::VectorXs StateMultibodyTpl<Scalar>::zero() const { |
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return x0_; |
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} |
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template <typename Scalar> |
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typename MathBaseTpl<Scalar>::VectorXs StateMultibodyTpl<Scalar>::rand() const { |
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VectorXs xrand = VectorXs::Random(nx_); |
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xrand.head(nq_) = pinocchio::randomConfiguration(*pinocchio_.get()); |
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return xrand; |
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} |
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template <typename Scalar> |
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void StateMultibodyTpl<Scalar>::diff(const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1, |
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Eigen::Ref<VectorXs> dxout) const { |
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if (static_cast<std::size_t>(x0.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x0 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(x1.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x1 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(dxout.size()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "dxout has wrong dimension (it should be " + |
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std::to_string(ndx_) + ")"); |
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} |
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pinocchio::difference(*pinocchio_.get(), x0.head(nq_), x1.head(nq_), |
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dxout.head(nv_)); |
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dxout.tail(nv_) = x1.tail(nv_) - x0.tail(nv_); |
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} |
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template <typename Scalar> |
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void StateMultibodyTpl<Scalar>::integrate(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<VectorXs> xout) const { |
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if (static_cast<std::size_t>(x.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(dx.size()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "dx has wrong dimension (it should be " + |
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std::to_string(ndx_) + ")"); |
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} |
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if (static_cast<std::size_t>(xout.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "xout has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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pinocchio::integrate(*pinocchio_.get(), x.head(nq_), dx.head(nv_), |
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xout.head(nq_)); |
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xout.tail(nv_) = x.tail(nv_) + dx.tail(nv_); |
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} |
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template <typename Scalar> |
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void StateMultibodyTpl<Scalar>::Jdiff(const Eigen::Ref<const VectorXs>& x0, |
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const Eigen::Ref<const VectorXs>& x1, |
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Eigen::Ref<MatrixXs> Jfirst, |
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Eigen::Ref<MatrixXs> Jsecond, |
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const Jcomponent firstsecond) const { |
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assert_pretty( |
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is_a_Jcomponent(firstsecond), |
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("firstsecond must be one of the Jcomponent {both, first, second}")); |
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if (static_cast<std::size_t>(x0.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x0 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (static_cast<std::size_t>(x1.size()) != nx_) { |
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throw_pretty( |
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"Invalid argument: " << "x1 has wrong dimension (it should be " + |
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std::to_string(nx_) + ")"); |
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} |
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if (firstsecond == first) { |
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if (static_cast<std::size_t>(Jfirst.rows()) != ndx_ || |
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static_cast<std::size_t>(Jfirst.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jfirst has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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pinocchio::dDifference(*pinocchio_.get(), x0.head(nq_), x1.head(nq_), |
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Jfirst.topLeftCorner(nv_, nv_), pinocchio::ARG0); |
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Jfirst.bottomRightCorner(nv_, nv_).diagonal().array() = (Scalar)-1; |
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} else if (firstsecond == second) { |
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if (static_cast<std::size_t>(Jsecond.rows()) != ndx_ || |
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static_cast<std::size_t>(Jsecond.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jsecond has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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pinocchio::dDifference(*pinocchio_.get(), x0.head(nq_), x1.head(nq_), |
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Jsecond.topLeftCorner(nv_, nv_), pinocchio::ARG1); |
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Jsecond.bottomRightCorner(nv_, nv_).diagonal().array() = (Scalar)1; |
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} else { // computing both |
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if (static_cast<std::size_t>(Jfirst.rows()) != ndx_ || |
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static_cast<std::size_t>(Jfirst.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jfirst has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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if (static_cast<std::size_t>(Jsecond.rows()) != ndx_ || |
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static_cast<std::size_t>(Jsecond.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jsecond has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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pinocchio::dDifference(*pinocchio_.get(), x0.head(nq_), x1.head(nq_), |
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Jfirst.topLeftCorner(nv_, nv_), pinocchio::ARG0); |
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pinocchio::dDifference(*pinocchio_.get(), x0.head(nq_), x1.head(nq_), |
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Jsecond.topLeftCorner(nv_, nv_), pinocchio::ARG1); |
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Jfirst.bottomRightCorner(nv_, nv_).diagonal().array() = (Scalar)-1; |
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Jsecond.bottomRightCorner(nv_, nv_).diagonal().array() = (Scalar)1; |
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} |
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} |
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template <typename Scalar> |
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void StateMultibodyTpl<Scalar>::Jintegrate(const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<MatrixXs> Jfirst, |
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Eigen::Ref<MatrixXs> Jsecond, |
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const Jcomponent firstsecond, |
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const AssignmentOp op) const { |
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assert_pretty( |
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is_a_Jcomponent(firstsecond), |
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("firstsecond must be one of the Jcomponent {both, first, second}")); |
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assert_pretty(is_a_AssignmentOp(op), |
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("op must be one of the AssignmentOp {settop, addto, rmfrom}")); |
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if (firstsecond == first || firstsecond == both) { |
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if (static_cast<std::size_t>(Jfirst.rows()) != ndx_ || |
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static_cast<std::size_t>(Jfirst.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jfirst has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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switch (op) { |
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case setto: |
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pinocchio::dIntegrate(*pinocchio_.get(), x.head(nq_), dx.head(nv_), |
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Jfirst.topLeftCorner(nv_, nv_), pinocchio::ARG0, |
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pinocchio::SETTO); |
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Jfirst.bottomRightCorner(nv_, nv_).diagonal().array() = (Scalar)1; |
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break; |
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case addto: |
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pinocchio::dIntegrate(*pinocchio_.get(), x.head(nq_), dx.head(nv_), |
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Jfirst.topLeftCorner(nv_, nv_), pinocchio::ARG0, |
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pinocchio::ADDTO); |
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Jfirst.bottomRightCorner(nv_, nv_).diagonal().array() += (Scalar)1; |
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break; |
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case rmfrom: |
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pinocchio::dIntegrate(*pinocchio_.get(), x.head(nq_), dx.head(nv_), |
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Jfirst.topLeftCorner(nv_, nv_), pinocchio::ARG0, |
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pinocchio::RMTO); |
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Jfirst.bottomRightCorner(nv_, nv_).diagonal().array() -= (Scalar)1; |
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break; |
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default: |
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throw_pretty( |
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"Invalid argument: allowed operators: setto, addto, rmfrom"); |
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break; |
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} |
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} |
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if (firstsecond == second || firstsecond == both) { |
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if (static_cast<std::size_t>(Jsecond.rows()) != ndx_ || |
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static_cast<std::size_t>(Jsecond.cols()) != ndx_) { |
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throw_pretty( |
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"Invalid argument: " << "Jsecond has wrong dimension (it should be " + |
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std::to_string(ndx_) + "," + |
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std::to_string(ndx_) + ")"); |
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} |
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switch (op) { |
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case setto: |
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pinocchio::dIntegrate(*pinocchio_.get(), x.head(nq_), dx.head(nv_), |
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Jsecond.topLeftCorner(nv_, nv_), pinocchio::ARG1, |
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pinocchio::SETTO); |
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Jsecond.bottomRightCorner(nv_, nv_).diagonal().array() = (Scalar)1; |
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break; |
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case addto: |
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pinocchio::dIntegrate(*pinocchio_.get(), x.head(nq_), dx.head(nv_), |
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Jsecond.topLeftCorner(nv_, nv_), pinocchio::ARG1, |
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pinocchio::ADDTO); |
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Jsecond.bottomRightCorner(nv_, nv_).diagonal().array() += (Scalar)1; |
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break; |
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case rmfrom: |
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pinocchio::dIntegrate(*pinocchio_.get(), x.head(nq_), dx.head(nv_), |
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Jsecond.topLeftCorner(nv_, nv_), pinocchio::ARG1, |
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pinocchio::RMTO); |
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Jsecond.bottomRightCorner(nv_, nv_).diagonal().array() -= (Scalar)1; |
| 244 |
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break; |
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default: |
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throw_pretty( |
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"Invalid argument: allowed operators: setto, addto, rmfrom"); |
| 248 |
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break; |
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} |
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} |
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} |
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| 253 |
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template <typename Scalar> |
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✗ |
void StateMultibodyTpl<Scalar>::JintegrateTransport( |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& dx, |
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Eigen::Ref<MatrixXs> Jin, const Jcomponent firstsecond) const { |
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assert_pretty( |
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is_a_Jcomponent(firstsecond), |
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("firstsecond must be one of the Jcomponent {both, first, second}")); |
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✗ |
switch (firstsecond) { |
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case first: |
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pinocchio::dIntegrateTransport(*pinocchio_.get(), x.head(nq_), |
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dx.head(nv_), Jin.topRows(nv_), |
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pinocchio::ARG0); |
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✗ |
break; |
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✗ |
case second: |
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pinocchio::dIntegrateTransport(*pinocchio_.get(), x.head(nq_), |
| 269 |
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dx.head(nv_), Jin.topRows(nv_), |
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pinocchio::ARG1); |
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break; |
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✗ |
default: |
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throw_pretty( |
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"Invalid argument: firstsecond must be either first or second. both " |
| 275 |
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"not supported for this operation."); |
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break; |
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} |
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} |
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template <typename Scalar> |
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const std::shared_ptr<pinocchio::ModelTpl<Scalar> >& |
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✗ |
StateMultibodyTpl<Scalar>::get_pinocchio() const { |
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return pinocchio_; |
| 284 |
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} |
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| 286 |
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template <typename Scalar> |
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template <typename NewScalar> |
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✗ |
StateMultibodyTpl<NewScalar> StateMultibodyTpl<Scalar>::cast() const { |
| 289 |
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typedef StateMultibodyTpl<NewScalar> ReturnType; |
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typedef pinocchio::ModelTpl<NewScalar> ModelType; |
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✗ |
ReturnType res( |
| 292 |
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std::make_shared<ModelType>(pinocchio_->template cast<NewScalar>())); |
| 293 |
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✗ |
return res; |
| 294 |
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} |
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| 296 |
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template <typename Scalar> |
| 297 |
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✗ |
void StateMultibodyTpl<Scalar>::print(std::ostream& os) const { |
| 298 |
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✗ |
os << "StateMultibody {nx=" << nx_ << ", ndx=" << ndx_ |
| 299 |
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✗ |
<< ", pinocchio=" << *pinocchio_.get() << "}"; |
| 300 |
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} |
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} // namespace crocoddyl |
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