joint-effort.hpp

// BSD 3-Clause License
//
// Copyright (C) 2022-2025, Heriot-Watt University, University of Edinburgh
// Copyright note valid unless otherwise stated in individual files.
// All rights reserved.
 
#ifndef CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_
#define CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_
 
#include "crocoddyl/core/actuation-base.hpp"
#include "crocoddyl/core/data/joint.hpp"
#include "crocoddyl/core/fwd.hpp"
#include "crocoddyl/core/residual-base.hpp"
 
namespace crocoddyl {
 
template <typename _Scalar>
class ResidualModelJointEffortTpl : public ResidualModelAbstractTpl<_Scalar> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  CROCODDYL_DERIVED_CAST(ResidualModelBase, ResidualModelJointEffortTpl)
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualModelAbstractTpl<Scalar> Base;
  typedef ResidualDataJointEffortTpl<Scalar> Data;
  typedef ResidualDataAbstractTpl<Scalar> ResidualDataAbstract;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
  typedef StateAbstractTpl<Scalar> StateAbstract;
  typedef ActuationModelAbstractTpl<Scalar> ActuationModelAbstract;
  typedef typename MathBase::VectorXs VectorXs;
  typedef typename MathBase::MatrixXs MatrixXs;
 
  ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state,
                              std::shared_ptr<ActuationModelAbstract> actuation,
                              const VectorXs& uref, const std::size_t nu,
                              const bool fwddyn = false);
 
  ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state,
                              std::shared_ptr<ActuationModelAbstract> actuation,
                              const VectorXs& uref);
 
  ResidualModelJointEffortTpl(std::shared_ptr<StateAbstract> state,
                              std::shared_ptr<ActuationModelAbstract> actuation,
                              const std::size_t nu);
 
  ResidualModelJointEffortTpl(
      std::shared_ptr<StateAbstract> state,
      std::shared_ptr<ActuationModelAbstract> actuation);
 
  virtual ~ResidualModelJointEffortTpl() = 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 calc(const std::shared_ptr<ResidualDataAbstract>& data,
                    const Eigen::Ref<const VectorXs>& x) override;
 
  virtual void calcDiff(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) override;
 
  virtual std::shared_ptr<ResidualDataAbstract> createData(
      DataCollectorAbstract* const data) override;
 
  template <typename NewScalar>
  ResidualModelJointEffortTpl<NewScalar> cast() const;
 
  const VectorXs& get_reference() const;
 
  void set_reference(const VectorXs& reference);
 
  virtual void print(std::ostream& os) const override;
 
 protected:
  using Base::nr_;
  using Base::nu_;
  using Base::q_dependent_;
  using Base::state_;
  using Base::v_dependent_;
 
 private:
  std::shared_ptr<ActuationModelAbstract> actuation_;  
  VectorXs uref_;  
  bool fwddyn_;    
};
 
template <typename _Scalar>
struct ResidualDataJointEffortTpl : public ResidualDataAbstractTpl<_Scalar> {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
  typedef _Scalar Scalar;
  typedef MathBaseTpl<Scalar> MathBase;
  typedef ResidualDataAbstractTpl<Scalar> Base;
  typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract;
 
  template <template <typename Scalar> class Model>
  ResidualDataJointEffortTpl(Model<Scalar>* const model,
                             DataCollectorAbstract* const data)
      : Base(model, data) {
    // Check that proper shared data has been passed
    DataCollectorJointTpl<Scalar>* d =
        dynamic_cast<DataCollectorJointTpl<Scalar>*>(shared);
    if (d == nullptr) {
      throw_pretty(
          "Invalid argument: the shared data should be derived from "
          "DataCollectorJoint");
    }
    joint = d->joint;
  }
  virtual ~ResidualDataJointEffortTpl() = default;
 
  std::shared_ptr<JointDataAbstractTpl<Scalar> > joint;  
  using Base::r;
  using Base::Ru;
  using Base::Rx;
  using Base::shared;
};
 
}  // namespace crocoddyl
 
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
/* --- Details -------------------------------------------------------------- */
#include "crocoddyl/core/residuals/joint-effort.hxx"
 
CROCODDYL_DECLARE_EXTERN_TEMPLATE_CLASS(crocoddyl::ResidualModelJointEffortTpl)
CROCODDYL_DECLARE_EXTERN_TEMPLATE_STRUCT(crocoddyl::ResidualDataJointEffortTpl)
 
#endif  // CROCODDYL_CORE_RESIDUALS_JOINT_TORQUE_HPP_