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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2022-2025, LAAS-CNRS, University of Edinburgh, |
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// 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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ResidualModelStateTpl<Scalar>::ResidualModelStateTpl( |
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std::shared_ptr<typename Base::StateAbstract> state, const VectorXs& xref, |
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const std::size_t nu) |
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: Base(state, state->get_ndx(), nu, true, true, false), xref_(xref) { |
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if (static_cast<std::size_t>(xref_.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "xref has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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// Define the pinocchio model for the multibody state case |
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const std::shared_ptr<StateMultibody>& s = |
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std::dynamic_pointer_cast<StateMultibody>(state); |
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if (s) { |
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pin_model_ = s->get_pinocchio(); |
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} |
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} |
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template <typename Scalar> |
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ResidualModelStateTpl<Scalar>::ResidualModelStateTpl( |
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std::shared_ptr<typename Base::StateAbstract> state, const VectorXs& xref) |
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: Base(state, state->get_ndx(), true, true, false), xref_(xref) { |
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if (static_cast<std::size_t>(xref_.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " << "xref has wrong dimension (it should be " + |
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std::to_string(state_->get_nx()) + ")"); |
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} |
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// Define the pinocchio model for the multibody state case |
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const std::shared_ptr<StateMultibody>& s = |
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std::dynamic_pointer_cast<StateMultibody>(state); |
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if (s) { |
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pin_model_ = s->get_pinocchio(); |
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} |
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} |
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template <typename Scalar> |
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ResidualModelStateTpl<Scalar>::ResidualModelStateTpl( |
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std::shared_ptr<typename Base::StateAbstract> state, const std::size_t nu) |
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: Base(state, state->get_ndx(), nu, true, true, false), |
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xref_(state->zero()) { |
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// Define the pinocchio model for the multibody state case |
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const std::shared_ptr<StateMultibody>& s = |
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std::dynamic_pointer_cast<StateMultibody>(state); |
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if (s) { |
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pin_model_ = s->get_pinocchio(); |
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} |
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} |
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template <typename Scalar> |
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ResidualModelStateTpl<Scalar>::ResidualModelStateTpl( |
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std::shared_ptr<typename Base::StateAbstract> state) |
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: Base(state, state->get_ndx(), true, true, false), xref_(state->zero()) { |
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// Define the pinocchio model for the multibody state case |
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const std::shared_ptr<StateMultibody>& s = |
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std::dynamic_pointer_cast<StateMultibody>(state); |
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if (s) { |
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pin_model_ = s->get_pinocchio(); |
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} |
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} |
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template <typename Scalar> |
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void ResidualModelStateTpl<Scalar>::calc( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>&) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_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(state_->get_nx()) + ")"); |
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} |
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state_->diff(xref_, x, data->r); |
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} |
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template <typename Scalar> |
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void ResidualModelStateTpl<Scalar>::calcDiff( |
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const std::shared_ptr<ResidualDataAbstract>& data, |
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const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>&) { |
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if (static_cast<std::size_t>(x.size()) != state_->get_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(state_->get_nx()) + ")"); |
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} |
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state_->Jdiff(xref_, x, data->Rx, data->Rx, second); |
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} |
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template <typename Scalar> |
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void ResidualModelStateTpl<Scalar>::calcCostDiff( |
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const std::shared_ptr<CostDataAbstract>& cdata, |
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const std::shared_ptr<ResidualDataAbstract>& rdata, |
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const std::shared_ptr<ActivationDataAbstract>& adata, const bool) { |
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const std::size_t nv = state_->get_nv(); |
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if (pin_model_) { |
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typedef Eigen::Block<MatrixXs> MatrixBlock; |
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for (pinocchio::JointIndex i = 1; |
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i < (pinocchio::JointIndex)pin_model_->njoints; ++i) { |
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const MatrixBlock& RxBlock = |
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rdata->Rx.block(pin_model_->idx_vs[i], pin_model_->idx_vs[i], |
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pin_model_->nvs[i], pin_model_->nvs[i]); |
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cdata->Lx.segment(pin_model_->idx_vs[i], pin_model_->nvs[i]).noalias() = |
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RxBlock.transpose() * |
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adata->Ar.segment(pin_model_->idx_vs[i], pin_model_->nvs[i]); |
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cdata->Lxx |
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.block(pin_model_->idx_vs[i], pin_model_->idx_vs[i], |
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pin_model_->nvs[i], pin_model_->nvs[i]) |
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.noalias() = RxBlock.transpose() * |
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adata->Arr.diagonal() |
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.segment(pin_model_->idx_vs[i], pin_model_->nvs[i]) |
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.asDiagonal() * |
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RxBlock; |
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} |
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cdata->Lx.tail(nv) = adata->Ar.tail(nv); |
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cdata->Lxx.diagonal().tail(nv) = adata->Arr.diagonal().tail(nv); |
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} else { |
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cdata->Lx = adata->Ar; |
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cdata->Lxx.diagonal() = adata->Arr.diagonal(); |
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} |
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} |
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template <typename Scalar> |
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template <typename NewScalar> |
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ResidualModelStateTpl<NewScalar> ResidualModelStateTpl<Scalar>::cast() const { |
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typedef ResidualModelStateTpl<NewScalar> ReturnType; |
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typedef StateAbstractTpl<NewScalar> StateType; |
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ReturnType ret( |
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std::static_pointer_cast<StateType>(state_->template cast<NewScalar>()), |
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xref_.template cast<NewScalar>(), nu_); |
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return ret; |
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} |
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template <typename Scalar> |
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void ResidualModelStateTpl<Scalar>::print(std::ostream& os) const { |
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os << "ResidualModelState"; |
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} |
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template <typename Scalar> |
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const typename MathBaseTpl<Scalar>::VectorXs& |
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ResidualModelStateTpl<Scalar>::get_reference() const { |
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return xref_; |
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} |
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template <typename Scalar> |
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void ResidualModelStateTpl<Scalar>::set_reference(const VectorXs& reference) { |
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if (static_cast<std::size_t>(reference.size()) != state_->get_nx()) { |
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throw_pretty( |
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"Invalid argument: " |
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<< "the state reference has wrong dimension (" << reference.size() |
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<< " provided - it should be " + std::to_string(state_->get_nx()) + ")") |
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} |
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xref_ = reference; |
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} |
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} // namespace crocoddyl |
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