impulse-com.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_IMPULSE_COM_HPP_
#define CROCODDYL_MULTIBODY_RESIDUALS_IMPULSE_COM_HPP_
 
#include "crocoddyl/core/residual-base.hpp"
#include "crocoddyl/multibody/data/impulses.hpp"
#include "crocoddyl/multibody/fwd.hpp"
#include "crocoddyl/multibody/impulse-base.hpp"
#include "crocoddyl/multibody/states/multibody.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ResidualModelImpulseCoMTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelImpulseCoMTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataImpulseCoMTpl<Scalar> Data;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef ActivationModelAbstractTpl<Scalar> ActivationModelAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef typename MathBase::VectorXs VectorXs;
 
  ResidualModelImpulseCoMTpl(std::shared_ptr<StateMultibody> state);
  virtual ~ResidualModelImpulseCoMTpl() = 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>
  ResidualModelImpulseCoMTpl<NewScalar> cast() const;
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::nu_;
  using Base::state_;
  using Base::u_dependent_;
 
 private:
  std::shared_ptr<typename StateMultibody::PinocchioModel> pin_model_;
};
 
template <typename _Scalar>
struct ResidualDataImpulseCoMTpl : public ResidualDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> Base;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef StateMultibodyTpl<Scalar> StateMultibody;
  typedef typename MathBase::MatrixXs MatrixXs;
  typedef typename MathBase::Matrix3xs Matrix3xs;
 
  template <template <typename Scalar> class Model>
  ResidualDataImpulseCoMTpl(Model<Scalar>* const model,
                            DataCollectorAbstract* const data)
      : Base(model, data),
        dvc_dq(3, model->get_state()->get_nv()),
        ddv_dv(model->get_state()->get_nv(), model->get_state()->get_nv()) {
    dvc_dq.setZero();
    ddv_dv.setZero();
    const std::shared_ptr<StateMultibody>& state =
        std::static_pointer_cast<StateMultibody>(model->get_state());
    pinocchio_internal =
        pinocchio::DataTpl<Scalar>(*state->get_pinocchio().get());
    // Check that proper shared data has been passed
    DataCollectorMultibodyInImpulseTpl<Scalar>* d =
        dynamic_cast<DataCollectorMultibodyInImpulseTpl<Scalar>*>(shared);
    if (d == NULL) {
      throw_pretty(
          "Invalid argument: the shared data should be derived from "
          "DataCollectorMultibodyInImpulse");
    }
    pinocchio = d->pinocchio;
    impulses = d->impulses;
  }
  virtual ~ResidualDataImpulseCoMTpl() = default;
 
  pinocchio::DataTpl<Scalar>* pinocchio;  
  std::shared_ptr<crocoddyl::ImpulseDataMultipleTpl<Scalar> >
      impulses;      
  Matrix3xs dvc_dq;  
  MatrixXs ddv_dv;   
  pinocchio::DataTpl<Scalar>
      pinocchio_internal;  
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/multibody/residuals/impulse-com.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelImpulseCoMTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ResidualDataImpulseCoMTpl)
 
#endif  // CROCODDYL_MULTIBODY_RESIDUALS_IMPULSE_COM_HPP_