Crocoddyl
 
Loading...
Searching...
No Matches
centroidal-momentum.hpp
1
2// BSD 3-Clause License
3//
4// Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh,
5// Heriot-Watt University
6// Copyright note valid unless otherwise stated in individual files.
7// All rights reserved.
9
10#ifndef CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_
11#define CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_
12
13#include "crocoddyl/core/residual-base.hpp"
14#include "crocoddyl/multibody/data/multibody.hpp"
15#include "crocoddyl/multibody/fwd.hpp"
16#include "crocoddyl/multibody/states/multibody.hpp"
17
18namespace crocoddyl {
19
35template <typename _Scalar>
37 : public ResidualModelAbstractTpl<_Scalar> {
38 public:
39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41
42 typedef _Scalar Scalar;
50 typedef typename MathBase::Vector6s Vector6s;
51 typedef typename MathBase::VectorXs VectorXs;
52 typedef typename MathBase::Matrix6xs Matrix6xs;
53
61 ResidualModelCentroidalMomentumTpl(std::shared_ptr<StateMultibody> state,
62 const Vector6s& href,
63 const std::size_t nu);
64
73 ResidualModelCentroidalMomentumTpl(std::shared_ptr<StateMultibody> state,
74 const Vector6s& href);
75 virtual ~ResidualModelCentroidalMomentumTpl() = default;
76
84 virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
85 const Eigen::Ref<const VectorXs>& x,
86 const Eigen::Ref<const VectorXs>& u) override;
87
95 virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
96 const Eigen::Ref<const VectorXs>& x,
97 const Eigen::Ref<const VectorXs>& u) override;
98
102 virtual std::shared_ptr<ResidualDataAbstract> createData(
103 DataCollectorAbstract* const data) override;
104
115 template <typename NewScalar>
117
121 const Vector6s& get_reference() const;
122
126 void set_reference(const Vector6s& href);
127
133 virtual void print(std::ostream& os) const override;
134
135 protected:
136 using Base::nu_;
137 using Base::state_;
138 using Base::u_dependent_;
139
140 private:
141 Vector6s href_;
142 std::shared_ptr<typename StateMultibody::PinocchioModel>
143 pin_model_;
144};
145
146template <typename _Scalar>
148 : public ResidualDataAbstractTpl<_Scalar> {
149 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
150
151 typedef _Scalar Scalar;
155 typedef typename MathBase::Matrix6xs Matrix6xs;
156
157 template <template <typename Scalar> class Model>
158 ResidualDataCentroidalMomentumTpl(Model<Scalar>* const model,
159 DataCollectorAbstract* const data)
160 : Base(model, data),
161 dhd_dq(6, model->get_state()->get_nv()),
162 dhd_dv(6, model->get_state()->get_nv()) {
163 dhd_dq.setZero();
164 dhd_dv.setZero();
165
166 // Check that proper shared data has been passed
169 if (d == NULL) {
170 throw_pretty(
171 "Invalid argument: the shared data should be derived from "
172 "DataCollectorMultibody");
173 }
174
175 // Avoids data casting at runtime
176 pinocchio = d->pinocchio;
177 }
178 virtual ~ResidualDataCentroidalMomentumTpl() = default;
179
180 pinocchio::DataTpl<Scalar>* pinocchio;
181 Matrix6xs dhd_dq;
182 Matrix6xs dhd_dv;
183 using Base::r;
184 using Base::Ru;
185 using Base::Rx;
186 using Base::shared;
187};
188
189} // namespace crocoddyl
190
191/* --- Details -------------------------------------------------------------- */
192/* --- Details -------------------------------------------------------------- */
193/* --- Details -------------------------------------------------------------- */
194#include "crocoddyl/multibody/residuals/centroidal-momentum.hxx"
195
196CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
198CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
200
201#endif // CROCODDYL_MULTIBODY_RESIDUALS_MOMENTUM_HPP_
Abstract class for residual models.
std::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
ResidualModelCentroidalMomentumTpl(std::shared_ptr< StateMultibody > state, const Vector6s &href, const std::size_t nu)
Initialize the centroidal momentum residual model.
const Vector6s & get_reference() const
Return the reference centroidal momentum.
virtual void calcDiff(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
Compute the derivatives of the centroidal momentum residual.
void set_reference(const Vector6s &href)
Modify the reference centroidal momentum.
virtual std::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data) override
Create the centroidal momentum residual data.
ResidualModelCentroidalMomentumTpl(std::shared_ptr< StateMultibody > state, const Vector6s &href)
Initialize the centroidal momentum residual model.
ResidualModelCentroidalMomentumTpl< NewScalar > cast() const
Cast the centroidal-momentum residual model to a different scalar type.
virtual void calc(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
Compute the centroidal momentum residual.
virtual void print(std::ostream &os) const override
Print relevant information of the centroidal-momentum residual.
State multibody representation.
Definition multibody.hpp:34
MatrixXs Ru
Jacobian of the residual vector with respect the control.
MatrixXs Rx
Jacobian of the residual vector with respect the state.
DataCollectorAbstract * shared
Shared data allocated by the action model.
Matrix6xs dhd_dq
Jacobian of the centroidal momentum.
DataCollectorAbstract * shared
Shared data allocated by the action model.
Matrix6xs dhd_dv
Jacobian of the centroidal momentum.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.