full.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_FULL_HPP_
#define CROCODDYL_MULTIBODY_ACTUATIONS_FULL_HPP_
 
#include "crocoddyl/core/actuation-base.hpp"
#include "crocoddyl/core/state-base.hpp"
#include "crocoddyl/multibody/fwd.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ActuationModelFullTpl : public ActuationModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ActuationModelBase, ActuationModelFullTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ActuationModelAbstractTpl<Scalar> Base;
  typedef ActuationDataAbstractTpl<Scalar> Data;
  typedef StateAbstractTpl<Scalar> StateAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  explicit ActuationModelFullTpl(std::shared_ptr<StateAbstract> state)
      : Base(state, state->get_nv()) {};
  virtual ~ActuationModelFullTpl() = 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 = u;
  };
 
#ifndef NDEBUG
  virtual void calcDiff(const std::shared_ptr<Data>& data,
                        const Eigen::Ref<const VectorXs>& /*x*/,
                        const Eigen::Ref<const VectorXs>&) override {
#else
  virtual void calcDiff(const std::shared_ptr<Data>&,
                        const Eigen::Ref<const VectorXs>& /*x*/,
                        const Eigen::Ref<const VectorXs>&) 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(MatrixXs::Identity(state_->get_nv(), nu_)),
                  "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()) != nu_) {
      throw_pretty(
          "Invalid argument: " << "tau has wrong dimension (it should be " +
                                      std::to_string(nu_) + ")");
    }
    data->u = tau;
  }
 
#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(MatrixXs::Identity(nu_, nu_)),
                  "Mtau has wrong value");
  }
 
  virtual std::shared_ptr<Data> createData() override {
    std::shared_ptr<Data> data =
        std::allocate_shared<Data>(Eigen::aligned_allocator<Data>(), this);
    data->dtau_du.diagonal().setOnes();
    data->Mtau.setIdentity();
    return data;
  };
 
  template <typename NewScalar>
  ActuationModelFullTpl<NewScalar> cast() const {
    typedef ActuationModelFullTpl<NewScalar> ReturnType;
    ReturnType ret(state_->template cast<NewScalar>());
    return ret;
  }
 
  virtual void print(std::ostream& os) const override {
    os << "ActuationModelFull {nu=" << nu_ << ", nv=" << state_->get_nv()
       << "}";
  }
 
 protected:
  using Base::nu_;
  using Base::state_;
};
 
}  // namespace crocoddyl
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ActuationModelFullTpl)
 
#endif  // CROCODDYL_MULTIBODY_ACTUATIONS_FULL_HPP_