frame-placement.hpp

// BSD 3-Clause License
//
// Copyright (C) 2021-2025, LAAS-CNRS, University of Edinburgh,
//                          Heriot-Watt University
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_
#define CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_
 
#include "crocoddyl/core/residual-base.hpp"
#include "crocoddyl/multibody/data/multibody.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ResidualModelFramePlacementTpl
    : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelFramePlacementTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataFramePlacementTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef pinocchio::SE3Tpl<Scalar> SE3;
 
  ResidualModelFramePlacementTpl(std::shared_ptr<StateMultibody> state,
                                 const pinocchio::FrameIndex id,
                                 const SE3& pref, const std::size_t nu);
 
  ResidualModelFramePlacementTpl(std::shared_ptr<StateMultibody> state,
                                 const pinocchio::FrameIndex id,
                                 const SE3& pref);
  virtual ~ResidualModelFramePlacementTpl() = 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 calcDiff(const std::shared_ptr<ResidualDataAbstract>& data,
                        const Eigen::Ref<const VectorXs>& x,
                        const Eigen::Ref<const VectorXs>& u) override;
 
  virtual std::shared_ptr<ResidualDataAbstract> createData(
      DataCollectorAbstract* const data) override;
 
  template <typename NewScalar>
  ResidualModelFramePlacementTpl<NewScalar> cast() const;
 
  pinocchio::FrameIndex get_id() const;
 
  const SE3& get_reference() const;
 
  void set_id(const pinocchio::FrameIndex id);
 
  void set_reference(const SE3& reference);
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::nu_;
  using Base::state_;
  using Base::u_dependent_;
  using Base::v_dependent_;
 
 private:
  pinocchio::FrameIndex id_;           
  SE3 pref_;                           
  pinocchio::SE3Tpl<Scalar> oMf_inv_;  
  std::shared_ptr<typename StateMultibody::PinocchioModel>
      pin_model_;  
};
 
template <typename _Scalar>
struct ResidualDataFramePlacementTpl : public ResidualDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> Base;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::Matrix6xs Matrix6xs;
  typedef typename MathBase::Matrix6s Matrix6s;
  typedef typename MathBase::Vector6s Vector6s;
 
  template <template <typename Scalar> class Model>
  ResidualDataFramePlacementTpl(Model<Scalar>* const model,
                                DataCollectorAbstract* const data)
      : Base(model, data), rJf(6, 6), fJf(6, model->get_state()->get_nv()) {
    r.setZero();
    rJf.setZero();
    fJf.setZero();
    // Check that proper shared data has been passed
    DataCollectorMultibodyTpl<Scalar>* d =
        dynamic_cast<DataCollectorMultibodyTpl<Scalar>*>(shared);
    if (d == NULL) {
      throw_pretty(
          "Invalid argument: the shared data should be derived from "
          "DataCollectorMultibody");
    }
 
    // Avoids data casting at runtime
    pinocchio = d->pinocchio;
  }
  virtual ~ResidualDataFramePlacementTpl() = default;
 
  pinocchio::DataTpl<Scalar>* pinocchio;  
  pinocchio::SE3Tpl<Scalar> rMf;  
  Matrix6s rJf;                   
  Matrix6xs fJf;                  
 
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/residuals/frame-placement.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(
    crocoddyl::ResidualModelFramePlacementTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(
    crocoddyl::ResidualDataFramePlacementTpl)
 
#endif  // CROCODDYL_MULTIBODY_RESIDUALS_FRAME_PLACEMENT_HPP_