Crocoddyl
 
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com-position.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_COM_POSITION_HPP_
11#define CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_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:
38 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
39 CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelCoMPositionTpl)
40
41 typedef _Scalar Scalar;
48 typedef typename MathBase::Vector3s Vector3s;
49 typedef typename MathBase::VectorXs VectorXs;
50
58 ResidualModelCoMPositionTpl(std::shared_ptr<StateMultibody> state,
59 const Vector3s& cref, const std::size_t nu);
60
69 ResidualModelCoMPositionTpl(std::shared_ptr<StateMultibody> state,
70 const Vector3s& cref);
71 virtual ~ResidualModelCoMPositionTpl() = default;
72
80 virtual void calc(const std::shared_ptr<ResidualDataAbstract>& data,
81 const Eigen::Ref<const VectorXs>& x,
82 const Eigen::Ref<const VectorXs>& u) override;
83
91 virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
92 const Eigen::Ref<const VectorXs>& x,
93 const Eigen::Ref<const VectorXs>& u) override;
94 virtual std::shared_ptr<ResidualDataAbstract> createData(
95 DataCollectorAbstract* const data) override;
96
106 template <typename NewScalar>
108
112 const Vector3s& get_reference() const;
113
117 void set_reference(const Vector3s& cref);
118
124 virtual void print(std::ostream& os) const override;
125
126 protected:
127 using Base::nu_;
128 using Base::state_;
129 using Base::u_dependent_;
130 using Base::v_dependent_;
131
132 private:
133 Vector3s cref_;
134};
135
136template <typename _Scalar>
138 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
139
140 typedef _Scalar Scalar;
144 typedef typename MathBase::Matrix3xs Matrix3xs;
145
146 template <template <typename Scalar> class Model>
147 ResidualDataCoMPositionTpl(Model<Scalar>* const model,
148 DataCollectorAbstract* const data)
149 : Base(model, data) {
150 // Check that proper shared data has been passed
153 if (d == NULL) {
154 throw_pretty(
155 "Invalid argument: the shared data should be derived from "
156 "DataCollectorMultibody");
157 }
158
159 // Avoids data casting at runtime
160 pinocchio = d->pinocchio;
161 }
162 virtual ~ResidualDataCoMPositionTpl() = default;
163
164 pinocchio::DataTpl<Scalar>* pinocchio;
165 using Base::r;
166 using Base::Ru;
167 using Base::Rx;
168 using Base::shared;
169};
170
171} // namespace crocoddyl
172
173/* --- Details -------------------------------------------------------------- */
174/* --- Details -------------------------------------------------------------- */
175/* --- Details -------------------------------------------------------------- */
176#include "crocoddyl/multibody/residuals/com-position.hxx"
177
178CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelCoMPositionTpl)
179CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ResidualDataCoMPositionTpl)
180
181#endif // CROCODDYL_MULTIBODY_RESIDUALS_COM_POSITION_HPP_
Abstract class for residual models.
std::shared_ptr< StateAbstract > state_
State description.
std::size_t nu_
Control dimension.
ResidualModelCoMPositionTpl(std::shared_ptr< StateMultibody > state, const Vector3s &cref, const std::size_t nu)
Initialize the CoM position residual model.
const Vector3s & get_reference() const
Return the CoM position reference.
ResidualModelCoMPositionTpl< NewScalar > cast() const
Cast the com-position residual model to a different scalar type.
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 CoM position residual.
virtual std::shared_ptr< ResidualDataAbstract > createData(DataCollectorAbstract *const data) override
Create the residual data.
void set_reference(const Vector3s &cref)
Modify the CoM position reference.
ResidualModelCoMPositionTpl(std::shared_ptr< StateMultibody > state, const Vector3s &cref)
Initialize the CoM position residual model.
virtual void calc(const std::shared_ptr< ResidualDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u) override
Compute the CoM position residual.
virtual void print(std::ostream &os) const override
Print relevant information of the com-position 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.
DataCollectorAbstract * shared
Shared data allocated by the action model.
pinocchio::DataTpl< Scalar > * pinocchio
Pinocchio data.