floating-base.hpp

// BSD 3-Clause License
//
// Copyright (C) 2019-2025, LAAS-CNRS, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_
#define CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_
 
#include "crocoddyl/core/actuation-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ActuationModelFloatingBaseTpl
    : public ActuationModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ActuationModelBase, ActuationModelFloatingBaseTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActuationModelAbstractTpl<Scalar> Base;
  typedef ActuationDataAbstractTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  explicit ActuationModelFloatingBaseTpl(std::shared_ptr<StateMultibody> state)
      : Base(state,
             state->get_nv() -
                 state->get_pinocchio()
                     ->joints[(
                         state->get_pinocchio()->existJointName("root_joint")
                             ? state->get_pinocchio()->getJointId("root_joint")
                             : 0)]
                     .nv()) {};
  virtual ~ActuationModelFloatingBaseTpl() = default;
 
  virtual void calc(const std::shared_ptr<Data>& data,
                    const Eigen::Ref<const VectorXs>& /*x*/,
                    const Eigen::Ref<const VectorXs>& u) override {
    if (static_cast<std::size_t>(u.size()) != nu_) {
      throw_pretty(
          "Invalid argument: " << "u has wrong dimension (it should be " +
                                      std::to_string(nu_) + ")");
    }
    data->tau.tail(nu_) = u;
  };
 
#ifndef NDEBUG
  virtual void calcDiff(const std::shared_ptr<Data>& data,
                        const Eigen::Ref<const VectorXs>& /*x*/,
                        const Eigen::Ref<const VectorXs>& /*u*/) override {
#else
  virtual void calcDiff(const std::shared_ptr<Data>&,
                        const Eigen::Ref<const VectorXs>& /*x*/,
                        const Eigen::Ref<const VectorXs>& /*u*/) override {
#endif
    // The derivatives has constant values which were set in createData.
    assert_pretty(data->dtau_dx.isZero(), "dtau_dx has wrong value");
    assert_pretty(MatrixXs(data->dtau_du).isApprox(dtau_du_),
                  "dtau_du has wrong value");
  };
 
  virtual void commands(const std::shared_ptr<Data>& data,
                        const Eigen::Ref<const VectorXs>&,
                        const Eigen::Ref<const VectorXs>& tau) override {
    if (static_cast<std::size_t>(tau.size()) != state_->get_nv()) {
      throw_pretty(
          "Invalid argument: " << "tau has wrong dimension (it should be " +
                                      std::to_string(state_->get_nv()) + ")");
    }
    data->u = tau.tail(nu_);
  }
 
#ifndef NDEBUG
  virtual void torqueTransform(const std::shared_ptr<Data>& data,
                               const Eigen::Ref<const VectorXs>&,
                               const Eigen::Ref<const VectorXs>&) override {
#else
  virtual void torqueTransform(const std::shared_ptr<Data>&,
                               const Eigen::Ref<const VectorXs>&,
                               const Eigen::Ref<const VectorXs>&) override {
#endif
    // The torque transform has constant values which were set in createData.
    assert_pretty(MatrixXs(data->Mtau).isApprox(Mtau_), "Mtau has wrong value");
  }
 
  virtual std::shared_ptr<Data> createData() override {
    typedef StateMultibodyTpl<Scalar> StateMultibody;
    std::shared_ptr<StateMultibody> state =
        std::static_pointer_cast<StateMultibody>(state_);
    std::shared_ptr<Data> data =
        std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this);
    const std::size_t root_joint_id =
        state->get_pinocchio()->existJointName("root_joint")
            ? state->get_pinocchio()->getJointId("root_joint")
            : 0;
    const std::size_t nfb = state->get_pinocchio()->joints[root_joint_id].nv();
    data->dtau_du.diagonal(-nfb).setOnes();
    data->Mtau.diagonal(nfb).setOnes();
    for (std::size_t i = 0; i < nfb; ++i) {
      data->tau_set[i] = false;
    }
#ifndef NDEBUG
    dtau_du_ = data->dtau_du;
    Mtau_ = data->Mtau;
#endif
    return data;
  };
 
  template <typename NewScalar>
  ActuationModelFloatingBaseTpl<NewScalar> cast() const {
    typedef ActuationModelFloatingBaseTpl<NewScalar> ReturnType;
    typedef StateMultibodyTpl<NewScalar> StateType;
    ReturnType ret(std::static_pointer_cast<StateType>(
        state_->template cast<NewScalar>()));
    return ret;
  }
 
  virtual void print(std::ostream& os) const override {
    os << "ActuationModelFloatingBase {nu=" << nu_
       << ", nv=" << state_->get_nv() << "}";
  }
 
 protected:
  using Base::nu_;
  using Base::state_;
 
#ifndef NDEBUG
 private:
  MatrixXs dtau_du_;
  MatrixXs Mtau_;
#endif
};
 
}  // namespace crocoddyl
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
    crocoddyl::ActuationModelFloatingBaseTpl)
 
#endif  // CROCODDYL_MULTIBODY_ACTUATIONS_FLOATING_BASE_HPP_