control-gravity.hpp

// BSD 3-Clause License
//
// Copyright (C) 2020-2025, LAAS-CNRS, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_
#define CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_
 
#include "crocoddyl/core/residual-base.hpp"
#include "crocoddyl/multibody/data/multibody.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ResidualModelControlGravTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelControlGravTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataControlGravTpl<Scalar> Data;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ResidualModelControlGravTpl(std::shared_ptr<StateMultibody> state,
                              const std::size_t nu);
 
  ResidualModelControlGravTpl(std::shared_ptr<StateMultibody> state);
  virtual ~ResidualModelControlGravTpl() = default;
 
  virtual void calc(const std::shared_ptr<ResidualDataAbstract> &data,
                    const Eigen::Ref<const VectorXs> &x,
                    const Eigen::Ref<const VectorXs> &u) override;
 
  virtual void calc(const std::shared_ptr<ResidualDataAbstract> &data,
                    const Eigen::Ref<const VectorXs> &x) override;
 
  virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract> &data,
                        const Eigen::Ref<const VectorXs> &x,
                        const Eigen::Ref<const VectorXs> &u) override;
 
  virtual void calcDiff(const std::shared_ptr<ResidualDataAbstract> &data,
                        const Eigen::Ref<const VectorXs> &x) override;
 
  virtual std::shared_ptr<ResidualDataAbstract> createData(
      DataCollectorAbstract *const data) override;
 
  template <typename NewScalar>
  ResidualModelControlGravTpl<NewScalar> cast() const;
 
  virtual void print(std::ostream &os) const override;
 
 protected:
  using Base::nu_;
  using Base::state_;
  using Base::v_dependent_;
 
 private:
  typename StateMultibody::PinocchioModel
      pin_model_;  
};
 
template <typename _Scalar>
struct ResidualDataControlGravTpl : public ResidualDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> Base;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef pinocchio::DataTpl<Scalar> PinocchioData;
 
  template <template <typename Scalar> class Model>
  ResidualDataControlGravTpl(Model<Scalar> *const model,
                             DataCollectorAbstract *const data)
      : Base(model, data) {
    // Check that proper shared data has been passed
    DataCollectorActMultibodyTpl<Scalar> *d =
        dynamic_cast<DataCollectorActMultibodyTpl<Scalar> *>(shared);
    if (d == NULL) {
      throw_pretty(
          "Invalid argument: the shared data should be derived from "
          "DataCollectorActMultibodyTpl");
    }
    // Avoids data casting at runtime
    StateMultibody *sm =
        static_cast<StateMultibody *>(model->get_state().get());
    pinocchio = PinocchioData(*(sm->get_pinocchio().get()));
    actuation = d->actuation;
  }
  virtual ~ResidualDataControlGravTpl() = default;
 
  PinocchioData pinocchio;  
  std::shared_ptr<ActuationDataAbstractTpl<Scalar> >
      actuation;  
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/residuals/control-gravity.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelControlGravTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ResidualDataControlGravTpl)
 
#endif  // CROCODDYL_MULTIBODY_RESIDUALS_CONTROL_GRAVITY_HPP_