residual.hpp

// BSD 3-Clause License
//
// Copyright (C) 2021-2025, Heriot-Watt University, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_CONSTRAINTS_RESIDUAL_CONSTRAINT_HPP_
#define CROCODDYL_CORE_CONSTRAINTS_RESIDUAL_CONSTRAINT_HPP_
 
#include "crocoddyl/core/fwd.hpp"
//
#include "crocoddyl/core/constraint-base.hpp"
#include "crocoddyl/core/residual-base.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ConstraintModelResidualTpl : public ConstraintModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ConstraintModelBase, ConstraintModelResidualTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ConstraintModelAbstractTpl<Scalar> Base;
  typedef ConstraintDataResidualTpl<Scalar> Data;
  typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract;
  typedef ResidualModelAbstractTpl<Scalar> ResidualModelAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::VectorXs VectorXs;
 
  ConstraintModelResidualTpl(
      std::shared_ptr<typename Base::StateAbstract> state,
      std::shared_ptr<ResidualModelAbstract> residual, const VectorXs& lower,
      const VectorXs& upper, const bool T_act = true);
 
  ConstraintModelResidualTpl(
      std::shared_ptr<typename Base::StateAbstract> state,
      std::shared_ptr<ResidualModelAbstract> residual, const bool T_act = true);
  virtual ~ConstraintModelResidualTpl() = default;
 
  virtual void calc(const std::shared_ptr<ConstraintDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calc(const std::shared_ptr<ConstraintDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) override;
 
  virtual void calcDiff(const std::shared_ptr<ConstraintDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calcDiff(const std::shared_ptr<ConstraintDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x) override;
 
  virtual std::shared_ptr<ConstraintDataAbstract> createData(
      DataCollectorAbstract* const data) override;
 
  template <typename NewScalar>
  ConstraintModelResidualTpl<NewScalar> cast() const;
 
  virtual void print(std::ostream& os) const override;
 
 private:
  void updateCalc(const std::shared_ptr<ConstraintDataAbstract>& data);
  void updateCalcDiff(const std::shared_ptr<ConstraintDataAbstract>& data);
 
 protected:
  using Base::lb_;
  using Base::ng_;
  using Base::nh_;
  using Base::nu_;
  using Base::residual_;
  using Base::state_;
  using Base::T_constraint_;
  using Base::type_;
  using Base::ub_;
  using Base::unone_;
};
 
template <typename _Scalar>
struct ConstraintDataResidualTpl : public ConstraintDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ConstraintDataAbstractTpl<Scalar> Base;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 
  template <template <typename Scalar> class Model>
  ConstraintDataResidualTpl(Model<Scalar>* const model,
                            DataCollectorAbstract* const data)
      : Base(model, data) {}
  virtual ~ConstraintDataResidualTpl() = default;
 
  using Base::g;
  using Base::Gu;
  using Base::Gx;
  using Base::h;
  using Base::Hu;
  using Base::Hx;
  using Base::residual;
  using Base::shared;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/constraints/residual.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ConstraintModelResidualTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ConstraintDataResidualTpl)
 
#endif  // CROCODDYL_CORE_CONSTRAINTS_RESIDUAL_CONSTRAINT_HPP_