residual.hpp

// BSD 3-Clause License
//
// Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_COSTS_RESIDUAL_COST_HPP_
#define CROCODDYL_CORE_COSTS_RESIDUAL_COST_HPP_
 
#include "crocoddyl/core/cost-base.hpp"
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/residual-base.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class CostModelResidualTpl : public CostModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(CostModelBase, CostModelResidualTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef CostModelAbstractTpl<Scalar> Base;
  typedef CostDataResidualTpl<Scalar> Data;
  typedef CostDataAbstractTpl<Scalar> CostDataAbstract;
  typedef ResidualModelAbstractTpl<Scalar> ResidualModelAbstract;
  typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  CostModelResidualTpl(std::shared_ptr<typename Base::StateAbstract> state,
                       std::shared_ptr<ActivationModelAbstract> activation,
                       std::shared_ptr<ResidualModelAbstract> residual);
  CostModelResidualTpl(std::shared_ptr<typename Base::StateAbstract> state,
                       std::shared_ptr<ResidualModelAbstract> residual);
  virtual ~CostModelResidualTpl() = default;
 
  virtual void calc(const std::shared_ptr<CostDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x,
                    const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calc(const std::shared_ptr<CostDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) override;
 
  virtual void calcDiff(const std::shared_ptr<CostDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) override;
 
  virtual void calcDiff(const std::shared_ptr<CostDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x) override;
 
  virtual std::shared_ptr<CostDataAbstract> createData(
      DataCollectorAbstract* const data) override;
 
  template <typename NewScalar>
  CostModelResidualTpl<NewScalar> cast() const;
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::activation_;
  using Base::nu_;
  using Base::residual_;
  using Base::state_;
  using Base::unone_;
};
 
template <typename _Scalar>
struct CostDataResidualTpl : public CostDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef CostDataAbstractTpl<Scalar> Base;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 
  template <template <typename Scalar> class Model>
  CostDataResidualTpl(Model<Scalar>* const model,
                      DataCollectorAbstract* const data)
      : Base(model, data) {}
  virtual ~CostDataResidualTpl() = default;
 
  using Base::activation;
  using Base::cost;
  using Base::Lu;
  using Base::Luu;
  using Base::Lx;
  using Base::Lxu;
  using Base::Lxx;
  using Base::residual;
  using Base::shared;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/costs/residual.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::CostModelResidualTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::CostDataResidualTpl)
 
#endif  // CROCODDYL_CORE_COSTS_RESIDUAL_COST_HPP_